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@@ -2107,3 +2107,249 @@ URDF-Zoo/xarm+ability/meshes/visual/link3.glb filter=lfs diff=lfs merge=lfs -tex
 URDF-Zoo/xarm+ability/meshes/visual/link4.glb filter=lfs diff=lfs merge=lfs -text
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 URDF-Zoo/xarm+ability/models/full_model_fused_with__wrist.stl filter=lfs diff=lfs merge=lfs -text
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Robots_p/jaka_zu7+dexhand021/meshes/hand/densities.json

@@ -0,0 +1,6 @@
+{
+    "r_p_link0": 8980,
+    "l_p_link.*": 3300,
+    "r_p_link[1-9].*": 3300,
+    "[lr]_f_link.*": 1000
+}

Robots_p/jaka_zu7+dexhand021/urdf/Left_Hand.urdf

@@ -0,0 +1,1979 @@
+<?xml version="1.0" ?>
+<robot name="dexhand021_left">
+  <link name="l_p_link0">
+    <inertial>
+      <origin xyz="-0.0005340340782799666 -0.0030739671736089423 0.2580979226195014" rpy="0 0 0" />
+      <mass value="0.4582127297726252" />
+      <inertia ixx="0.0008682603987855573" ixy="-4.647872477702509e-06"
+        ixz="-1.9994715059692555e-06" iyy="0.0011955717530257226" iyz="4.26720458052884e-05"
+        izz="0.00046834351454589116" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link0.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link0.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="l_f_link1_1">
+    <inertial>
+      <origin xyz="0.002052234666759825 -0.005273334526360467 -0.017766417143674378" rpy="0 0 0" />
+      <mass value="0.005180345836222872" />
+      <inertia ixx="1.1430624429635148e-06" ixy="-2.1632825990418803e-08"
+        ixz="-9.945444780275452e-08" iyy="1.1661466974877877e-06" iyz="-2.1793835308526277e-07"
+        izz="3.1537914003827447e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1_1" type="revolute">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_f_link1_1" />
+    <axis xyz="0 0.26521 0.96419" />
+    <limit lower="0" upper="2.2" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
+
+  <link name="l_f_link1_2">
+    <inertial>
+      <origin xyz="0.021535504665713627 0.000506377639770679 -0.0008142325238397076" rpy="0 0 0" />
+      <mass value="0.005145873046733005" />
+      <inertia ixx="2.0955625734077272e-07" ixy="-9.153029438540082e-09"
+        ixz="1.1384864653981019e-10" iyy="1.060406958470173e-06" iyz="-1.130625438040032e-09"
+        izz="1.044207336185289e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1_2" type="revolute">
+    <origin xyz="0.0083307 0 0" rpy="1.30243 -0.018415 0.0050658" />
+    <parent link="l_f_link1_1" />
+    <child link="l_f_link1_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.6" />
+  </joint>
+
+  <link name="l_f_link1_3">
+    <inertial>
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+      <mass value="0.003510129470235022" />
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+        ixz="1.537174856934156e-09" iyy="3.145228617298639e-07" iyz="-3.5848718337208966e-11"
+        izz="3.260539360948065e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1_3" type="revolute">
+    <origin xyz="0.043 0 0" rpy="0 0 0" />
+    <parent link="l_f_link1_2" />
+    <child link="l_f_link1_3" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.6" />
+  </joint>
+
+  <link name="l_f_link1_4">
+    <inertial>
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+        izz="5.333289098973524e-07" />
+    </inertial>
+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1_4" type="revolute">
+    <origin xyz="0.025 0 0" rpy="0 0 0" />
+    <parent link="l_f_link1_3" />
+    <child link="l_f_link1_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.6" />
+  </joint>
+
+  <link name="l_f_link1_4_1">
+    <inertial>
+      <origin xyz="0.00976545037672086 -0.006088691115389994 -0.0012928496119325166" rpy="0 0 0" />
+      <mass value="0.0003728592379595507" />
+      <inertia ixx="1.0806913723931537e-08" ixy="1.4343552260771358e-10"
+        ixz="-7.904655850851082e-13" iyy="1.2799737605046901e-08" iyz="9.706813447028242e-14"
+        izz="2.9719855154096667e-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_4_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_4_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1_4_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link1_4" />
+    <child link="l_f_link1_4_1" />
+    <axis xyz="0 0 0" />
+  </joint>
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+  <link name="l_f_link1_4_2">
+    <inertial>
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+        iyy="3.26257386209023e-07" iyz="7.480451441953261e-12" izz="2.8666011571660654e-07" />
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_4_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
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+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_4_2.STL" />
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+  </link>
+
+  <joint name="l_f_joint1_4_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link1_4" />
+    <child link="l_f_link1_4_2" />
+    <axis xyz="0 0 0" />
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+  <link name="l_f_link1_3_1">
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+    <visual>
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+        <mesh filename="../meshes/hand/l_f_link1_3_1.STL" />
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+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+      <origin xyz="0 0 0" rpy="3.14 0 0" />
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+        <mesh filename="../meshes/hand/l_f_link1_3_1.STL" />
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+  <joint name="l_f_joint1_3_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link1_3" />
+    <child link="l_f_link1_3_1" />
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+  <link name="l_f_link1_3_2">
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_3_2.STL" />
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+  <joint name="l_f_joint1_3_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link1_3" />
+    <child link="l_f_link1_3_2" />
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+  <link name="l_f_link1_2_1">
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+      <material name="">
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+  <joint name="l_f_joint1_2_1" type="fixed">
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+    <child link="l_f_link1_2_1" />
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+  <link name="l_f_link1_2_2">
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+      <material name="">
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+  <joint name="l_f_joint1_2_2" type="fixed">
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+    <child link="l_f_link1_2_2" />
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+  <link name="l_f_link2_1">
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+      <geometry>
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+  <joint name="l_f_joint2_1" type="revolute">
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+    <parent link="l_p_link0" />
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+    <limit lower="0" upper="0.6" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.6" />
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+  <link name="l_f_link2_2">
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+      <material name="">
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+  <joint name="l_f_joint2_2" type="revolute">
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+    <parent link="l_f_link2_1" />
+    <child link="l_f_link2_2" />
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+  <link name="l_f_link2_3">
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+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+      <geometry>
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+  <joint name="l_f_joint2_3" type="revolute">
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+    <parent link="l_f_link2_2" />
+    <child link="l_f_link2_3" />
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+  <link name="l_f_link2_4">
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link2_4.STL" />
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+      <material name="">
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+      <geometry>
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+  <joint name="l_f_joint2_4" type="revolute">
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+    <parent link="l_f_link2_3" />
+    <child link="l_f_link2_4" />
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+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
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+  <link name="l_f_link2_4_1">
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+      <geometry>
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+  <joint name="l_f_joint2_4_1" type="fixed">
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+    <child link="l_f_link2_4_1" />
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+  <link name="l_f_link2_4_2">
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+  <joint name="l_f_joint2_4_2" type="fixed">
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+    <child link="l_f_link2_4_2" />
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+  <link name="l_f_link2_3_1">
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+  <joint name="l_f_joint2_3_1" type="fixed">
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+  <link name="l_f_link2_3_2">
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+  <joint name="l_f_joint2_3_2" type="fixed">
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+    <parent link="l_f_link2_3" />
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+  <link name="l_f_link2_2_1">
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+  <link name="l_f_link2_2_2">
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+  <joint name="l_f_joint3_1" type="revolute">
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+  <joint name="l_f_joint3_2" type="revolute">
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+    <parent link="l_f_link3_1" />
+    <child link="l_f_link3_2" />
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+      <mass value="0.0033203328984136053" />
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+        izz="3.206404029300517e-07" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_3.STL" />
+      </geometry>
+    </collision>
+  </link>
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+  <joint name="l_f_joint3_3" type="revolute">
+    <origin xyz="0.043 0 0" rpy="0 0 0" />
+    <parent link="l_f_link3_2" />
+    <child link="l_f_link3_3" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.6" />
+  </joint>
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+  <link name="l_f_link3_4">
+    <inertial>
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_4.STL" />
+      </geometry>
+    </collision>
+  </link>
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+  <joint name="l_f_joint3_4" type="revolute">
+    <origin xyz="0.025 0 0" rpy="0 0 0" />
+    <parent link="l_f_link3_3" />
+    <child link="l_f_link3_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.6" />
+  </joint>
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+  <link name="l_f_link3_4_1">
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_4_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_4_1.STL" />
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+  </link>
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+  <joint name="l_f_joint3_4_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link3_4" />
+    <child link="l_f_link3_4_1" />
+    <axis xyz="0 0 0" />
+  </joint>
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+  <link name="l_f_link3_4_2">
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+        izz="2.866601186317795e-07" />
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_4_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_4_2.STL" />
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+  </link>
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+  <joint name="l_f_joint3_4_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link3_4" />
+    <child link="l_f_link3_4_2" />
+    <axis xyz="0 0 0" />
+    <joint_properties damping="0.3" friction="0.6" />
+  </joint>
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+  <link name="l_f_link3_3_1">
+    <inertial>
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+        izz="4.935996044555037e-09" />
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_3_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_3_1.STL" />
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+  <joint name="l_f_joint3_3_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link3_3" />
+    <child link="l_f_link3_3_1" />
+    <axis xyz="0 0 0" />
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+  <link name="l_f_link3_3_2">
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_3_2.STL" />
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_3_2.STL" />
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+  <joint name="l_f_joint3_3_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link3_3" />
+    <child link="l_f_link3_3_2" />
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+  <link name="l_f_link3_2_1">
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_2_1.STL" />
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+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_2_1.STL" />
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+  <joint name="l_f_joint3_2_1" type="fixed">
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+    <parent link="l_f_link3_2" />
+    <child link="l_f_link3_2_1" />
+    <axis xyz="0 0 0" />
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+  <link name="l_f_link3_2_2">
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+    <visual>
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+      <geometry>
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_2_2.STL" />
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+  <joint name="l_f_joint3_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+    <child link="l_f_link3_2_2" />
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+  <link name="l_f_link4_1">
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+      <geometry>
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+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+      <geometry>
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+  <joint name="l_f_joint4_1" type="revolute">
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+    <parent link="l_p_link0" />
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+    <axis xyz="0 0 -1" />
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+    <joint_properties damping="0.3" friction="0.6" />
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+  <link name="l_f_link4_2">
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  <joint name="l_f_joint4_2" type="revolute">
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+    <parent link="l_f_link4_1" />
+    <child link="l_f_link4_2" />
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+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.6" />
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+  <link name="l_f_link4_3">
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  <joint name="l_f_joint4_3" type="revolute">
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+    <parent link="l_f_link4_2" />
+    <child link="l_f_link4_3" />
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+  <link name="l_f_link4_4">
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+      <geometry>
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+  <joint name="l_f_joint4_4" type="revolute">
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+    <parent link="l_f_link4_3" />
+    <child link="l_f_link4_4" />
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+  <link name="l_f_link4_4_1">
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+  <joint name="l_f_joint4_4_1" type="fixed">
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+    <child link="l_f_link4_4_1" />
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+  <link name="l_f_link4_4_2">
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+  <joint name="l_f_joint4_4_2" type="fixed">
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+  <link name="l_f_link4_3_1">
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+  <joint name="l_f_joint4_3_1" type="fixed">
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+    <parent link="l_f_link4_3" />
+    <child link="l_f_link4_3_1" />
+    <axis xyz="0 0 0" />
+    <joint_properties damping="0.3" friction="0.6" />
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link4_3_2.STL" />
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+      <material name="">
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+  <joint name="l_f_joint4_3_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link4_3" />
+    <child link="l_f_link4_3_2" />
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+  <link name="l_f_link4_2_1">
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+      <geometry>
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+      <material name="">
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+  <joint name="l_f_joint4_2_1" type="fixed">
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+    <child link="l_f_link4_2_1" />
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+  <link name="l_f_link4_2_2">
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+      <material name="">
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+  <joint name="l_f_joint4_2_2" type="fixed">
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+  <link name="l_f_link5_1">
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+        izz="2.980052957824027e-07" />
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+      <geometry>
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+      <material name="">
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+  <joint name="l_f_joint5_1" type="revolute">
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+    <parent link="l_p_link0" />
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+    <joint_properties damping="0.3" friction="0.6" />
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+  <link name="l_f_link5_2">
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+  <joint name="l_f_joint5_2" type="revolute">
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+  <link name="l_f_link5_3">
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+      <geometry>
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+      <material name="">
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+  <joint name="l_f_joint5_3" type="revolute">
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+  <link name="l_f_link5_4">
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+      <geometry>
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+      <material name="">
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+  <joint name="l_f_joint5_4" type="revolute">
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+  <link name="l_f_link5_4_1">
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+  <joint name="l_f_joint5_4_1" type="fixed">
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+  <link name="l_f_link5_4_2">
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+  <joint name="l_f_joint5_4_2" type="fixed">
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+    <child link="l_f_link5_4_2" />
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+  <link name="l_f_link5_3_1">
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+  <joint name="l_f_joint5_3_1" type="fixed">
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+  <link name="l_f_link5_3_2">
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+  <link name="l_f_link5_2_2">
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+  <link name="l_p_link3">
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint3" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link3" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_p_link4">
+    <inertial>
+      <origin xyz="-0.0298413518038466 -0.008258222290757664 -0.049476921582376654" rpy="0 0 0" />
+      <mass value="0.08225994389583667" />
+      <inertia ixx="5.0882475719932426e-05" ixy="1.945126795867257e-05" ixz="2.3536588759717027e-06"
+        iyy="0.00013859469040129445" iyz="-5.800266232654319e-06" izz="0.00011170513744198432" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint4" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link4" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_p_link5">
+    <inertial>
+      <origin xyz="-0.022805157908453312 -0.0024278245134679364 -0.04288462820007344" rpy="0 0 0" />
+      <mass value="0.022514206360667064" />
+      <inertia ixx="6.7369327810856215e-06" ixy="5.241430166013195e-06" ixz="1.6760244119235387e-06"
+        iyy="2.6534908658798778e-05" iyz="-6.111874746116537e-07" izz="2.379982124206274e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link5" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_p_link6">
+    <inertial>
+      <origin xyz="-0.035361125195284254 -0.04343591968543961 0.006711846346217487" rpy="0 0 0" />
+      <mass value="0.11250344206877806" />
+      <inertia ixx="0.0003119200809517767" ixy="5.040397379052519e-05" ixz="-2.1005345326720503e-05"
+        iyy="0.0004997982676351444" iyz="4.3512292769422553e-07" izz="0.00022471126846159207" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint6" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link6" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link1_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link1_4" />
+    <child link="l_f_link1_tip" />
+  </joint>
+
+  <link name="l_f_link2_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint2_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link2_4" />
+    <child link="l_f_link2_tip" />
+  </joint>
+
+  <link name="l_f_link3_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint3_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link3_4" />
+    <child link="l_f_link3_tip" />
+  </joint>
+
+  <link name="l_f_link4_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint4_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link4_4" />
+    <child link="l_f_link4_tip" />
+  </joint>
+
+  <link name="l_f_link5_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link5_4" />
+    <child link="l_f_link5_tip" />
+  </joint>
+
+
+
+
+
+
+
+
+
+
+</robot>

Robots_p/jaka_zu7+dexhand021/urdf/Left_jaka_zu7_dexhand021_with_flange.urdf

@@ -0,0 +1,2204 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot name="jaka_zu7">
+
+    <link name="Link_0">     
+        <inertial>
+            <origin xyz="0.00096371 8.8222E-08 0.019555" rpy="0 0 0" />
+            <mass value="4.0392" />
+            <inertia ixx="0.0048763" ixy="-1.8056E-07" ixz="2.5196E-05" iyy="0.0068003" iyz="-1.7678E-09" izz="0.010618" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_0.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_0.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_1">   
+        <inertial>
+            <origin xyz="-2.5186E-07 0.0033226 -0.001509" rpy="0 0 0" />
+            <mass value="15.135" />
+            <inertia ixx="0.044302" ixy="1.5349E-07" ixz="-6.1966E-07" iyy="0.043091" iyz="1.4326E-05" izz="0.030523" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_1.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_2">       
+        <inertial>
+            <origin xyz="0.18 8.8001E-09 -0.14308" rpy="0 0 0" />
+            <mass value="42.872" />
+            <inertia ixx="0.1014" ixy="-1.1106E-06" ixz="-1.3363E-07" iyy="1.1119" iyz="2.9045E-08" izz="1.0844" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_2.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_3">    
+        <inertial>
+            <origin xyz="0.15515 5.4643E-08 -0.012576" rpy="0 0 0" />
+            <mass value="16.562" />
+            <inertia ixx="0.020968" ixy="-3.9001E-06" ixz="-0.018394" iyy="0.28365" iyz="-1.2859E-07" izz="0.27848" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_3.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_4">     
+        <inertial>
+            <origin xyz="-2.1345E-06 -0.0058004 0.0026717" rpy="0 0 0" />
+            <mass value="5.5525" />
+            <inertia ixx="0.0092564" ixy="1.1341E-07" ixz="-1.2578E-08" iyy="0.0052251" iyz="-8.3499E-05" izz="0.0089683" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_4.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_5">     
+        <inertial>
+            <origin xyz="-2.0304E-06 -0.0028889 -0.0023424" rpy="0 0 0" />
+            <mass value="6.3339" />
+            <inertia ixx="0.012993" ixy="-1.0764E-07" ixz="5.8559E-09" iyy="0.0058454" iyz="4.5426E-05" izz="0.0127" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_6">  
+        <inertial>
+            <origin xyz="2.7652E-05 -1.3485E-05 -0.021245" rpy="0 0 0" />
+            <mass value="1.4169" />
+            <inertia ixx="0.00071853" ixy="-6.9778E-07" ixz="-6.378E-07" iyy="0.00072375" iyz="8.3072E-07" izz="0.0011337" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint_1" type="revolute">
+        <origin xyz="0 0 0.12015" rpy="0 0 0" />
+        <parent link="Link_0" />
+        <child link="Link_1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="2000" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 3.14 0" />
+        <parent link="Link_1" />
+        <child link="Link_2" />
+        <axis xyz="0 0 1" />
+        <limit lower="-4.6216" upper="1.4784" effort="1500" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_3" type="revolute">
+        <origin xyz="0.36 0 0" rpy="0 0 0" />
+        <parent link="Link_2" />
+        <child link="Link_3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.05" upper="3.05" effort="1500" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_4" type="revolute">
+        <origin xyz="0.30353 0 -0.11501" rpy="0 0 3.14" />
+        <parent link="Link_3" />
+        <child link="Link_4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-4.6216" upper="1.4784" effort="1000" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_5" type="revolute">
+        <origin xyz="0 -0.1135 0" rpy="1.5708 3.14 0" />
+        <parent link="Link_4" />
+        <child link="Link_5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="1000" velocity="3.14" />
+    </joint>
+    
+    <joint name="joint_6" type="revolute">
+        <origin xyz="0 0.0003 0" rpy="-1.5708 0 0" />
+        <parent link="Link_5" />
+        <child link="Link_6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="1000" velocity="3.14" />
+    </joint>
+
+    <joint name="Link_6_to_l_p_link0" type="fixed">
+      <origin xyz="0 0 -0.0495" rpy="0 0 0.07"/>
+      <parent link="Link_6"/>
+      <child link="l_p_link0"/>
+    </joint> 
+
+  <link name="l_p_link0">
+    <inertial>
+      <origin xyz="-0.0005340340782799666 -0.0030739671736089423 0.2580979226195014" rpy="0 0 0" />
+      <mass value="0.4582127297726252" />
+      <inertia ixx="0.0008682603987855573" ixy="-4.647872477702509e-06"
+        ixz="-1.9994715059692555e-06" iyy="0.0011955717530257226" iyz="4.26720458052884e-05"
+        izz="0.00046834351454589116" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link0.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link0.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="l_f_link1_1">
+    <inertial>
+      <origin xyz="0.002052234666759825 -0.005273334526360467 -0.017766417143674378" rpy="0 0 0" />
+      <mass value="0.005180345836222872" />
+      <inertia ixx="1.1430624429635148e-06" ixy="-2.1632825990418803e-08"
+        ixz="-9.945444780275452e-08" iyy="1.1661466974877877e-06" iyz="-2.1793835308526277e-07"
+        izz="3.1537914003827447e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
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+    <limit lower="0" upper="2.2" effort="10" velocity="1.5" />
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+  <link name="l_f_link1_2">
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+  <joint name="l_f_joint1_2" type="revolute">
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+  <link name="l_f_link1_3">
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+  <joint name="l_f_joint1_3" type="revolute">
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+    <parent link="l_f_link1_2" />
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+  <link name="l_f_link1_4">
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+  <joint name="l_f_joint1_4" type="revolute">
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+  <link name="l_f_link1_4_1">
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+  <link name="l_f_link1_4_2">
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+  <joint name="l_f_joint1_4_2" type="fixed">
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+  <link name="l_f_link1_3_1">
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+  <joint name="l_f_joint1_3_1" type="fixed">
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+  <link name="l_f_link1_3_2">
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+  <joint name="l_f_joint1_3_2" type="fixed">
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+  <joint name="l_f_joint1_2_1" type="fixed">
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+  <link name="l_f_link1_2_2">
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+  <joint name="l_f_joint1_2_2" type="fixed">
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+  <link name="l_f_link2_1">
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+  <joint name="l_f_joint2_2" type="revolute">
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+  <joint name="l_f_joint2_3" type="revolute">
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+  <joint name="l_f_joint2_4" type="revolute">
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+  <joint name="l_f_joint2_4_2" type="fixed">
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+  <link name="l_f_link2_3_1">
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+  <link name="l_f_link2_3_2">
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+  <link name="l_f_link2_2_1">
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+  <link name="l_f_link2_2_2">
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+  <joint name="l_f_joint3_3" type="revolute">
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+  <joint name="l_f_joint3_4" type="revolute">
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+  <link name="l_f_link4_2">
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+  <joint name="l_f_joint4_2" type="revolute">
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+  <link name="l_f_link4_3">
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+  <joint name="l_f_joint4_3" type="revolute">
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+  <link name="l_f_link4_4">
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+  <joint name="l_f_joint4_4" type="revolute">
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+  <link name="l_f_link4_4_1">
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+  <link name="l_f_link4_4_2">
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+  <link name="l_f_link4_3_1">
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+  <joint name="l_f_joint4_3_1" type="fixed">
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+  <link name="l_f_link4_3_2">
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+  <link name="l_f_link4_2_2">
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+  <joint name="l_f_joint5_3" type="revolute">
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+  <joint name="l_f_joint5_4" type="revolute">
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+  </link>
+
+  <joint name="l_f_joint5_4_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link5_4" />
+    <child link="l_f_link5_4_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link5_3_1">
+    <inertial>
+      <origin xyz="0.01240251902961703 0.007714920695189428 1.7562179048990797e-09" rpy="0 0 0" />
+      <mass value="0.0004998303821669769" />
+      <inertia ixx="1.51242558248967e-08" ixy="-2.5479654385122775e-10" ixz="1.4306529804103833e-13"
+        iyy="1.713520438301629e-08" iyz="-1.9604862408102513e-13" izz="4.935996044554998e-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link5_3_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link5_3_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5_3_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link5_3" />
+    <child link="l_f_link5_3_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link5_3_2">
+    <inertial>
+      <origin xyz="0.01293824819777932 -0.0049663796359724266 -5.799490468630916e-07" rpy="0 0 0" />
+      <mass value="0.0009265838824928253" />
+      <inertia ixx="5.343367914587499e-08" ixy="7.11272195391642e-10" ixz="4.75643671594095e-12"
+        iyy="7.063684996215479e-08" iyz="-9.602248319449449e-13" izz="4.7559278625456466e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link5_3_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link5_3_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5_3_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link5_3" />
+    <child link="l_f_link5_3_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link5_2_1">
+    <inertial>
+      <origin xyz="0.020377386408241372 0.008105578472303556 -1.8358250731876179e-09" rpy="0 0 0" />
+      <mass value="0.0009340644343591205" />
+      <inertia ixx="2.7202530997589e-08" ixy="2.318830577727892e-09" ixz="1.487247753432452e-12"
+        iyy="6.511791793427614e-08" iyz="-3.0048229349551126e-14" izz="4.1669289501701814e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link5_2_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link5_2_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5_2_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link5_2" />
+    <child link="l_f_link5_2_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link5_2_2">
+    <inertial>
+      <origin xyz="0.021873800021581506 -0.0029659448659418467 3.426541867502968e-06" rpy="0 0 0" />
+      <mass value="0.002679962972544193" />
+      <inertia ixx="2.46106262933422e-07" ixy="5.789691111700967e-09" ixz="1.382548386171941e-10"
+        iyy="6.71303134378717e-07" iyz="6.22866540244921e-11" izz="5.922202883500982e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link5_2_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link5_2_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link5_2" />
+    <child link="l_f_link5_2_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_p_link1">
+    <inertial>
+      <origin xyz="-0.039828367122623734 -0.05274778430354539 -0.009532289282993165" rpy="0 0 0" />
+      <mass value="0.08402879470191237" />
+      <inertia ixx="0.00012061000995335967" ixy="9.17811986947015e-06" ixz="-1.0617175255849679e-05"
+        iyy="0.00015463827295592394" iyz="4.4918865703612454e-07" izz="3.900039912950205e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_p_link2">
+    <inertial>
+      <origin xyz="-0.02488492263507479 -0.007868276064529948 0.02307958050328564" rpy="0 0 0" />
+      <mass value="0.07899885001313191" />
+      <inertia ixx="4.9749332651746786e-05" ixy="2.9038341534341812e-05"
+        ixz="-7.615778905613395e-06" iyy="0.00015619302190803325" iyz="-1.5002047733083078e-06"
+        izz="0.00013058028469968588" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint2" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_p_link3">
+    <inertial>
+      <origin xyz="-0.023336898526263472 -0.0010207888192092151 0.028962598242239686" rpy="0 0 0" />
+      <mass value="0.04403763346723259" />
+      <inertia ixx="1.6579592867138346e-05" ixy="8.971445809253096e-06" ixz="-5.369063153578631e-06"
+        iyy="4.981163538329432e-05" iyz="7.898498335261686e-07" izz="3.788988071413252e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint3" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link3" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_p_link4">
+    <inertial>
+      <origin xyz="-0.0298413518038466 -0.008258222290757664 -0.049476921582376654" rpy="0 0 0" />
+      <mass value="0.08225994389583667" />
+      <inertia ixx="5.0882475719932426e-05" ixy="1.945126795867257e-05" ixz="2.3536588759717027e-06"
+        iyy="0.00013859469040129445" iyz="-5.800266232654319e-06" izz="0.00011170513744198432" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint4" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link4" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_p_link5">
+    <inertial>
+      <origin xyz="-0.022805157908453312 -0.0024278245134679364 -0.04288462820007344" rpy="0 0 0" />
+      <mass value="0.022514206360667064" />
+      <inertia ixx="6.7369327810856215e-06" ixy="5.241430166013195e-06" ixz="1.6760244119235387e-06"
+        iyy="2.6534908658798778e-05" iyz="-6.111874746116537e-07" izz="2.379982124206274e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link5" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_p_link6">
+    <inertial>
+      <origin xyz="-0.035361125195284254 -0.04343591968543961 0.006711846346217487" rpy="0 0 0" />
+      <mass value="0.11250344206877806" />
+      <inertia ixx="0.0003119200809517767" ixy="5.040397379052519e-05" ixz="-2.1005345326720503e-05"
+        iyy="0.0004997982676351444" iyz="4.3512292769422553e-07" izz="0.00022471126846159207" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint6" type="fixed">
+    <origin xyz="-0.023855 -0.031204 0.27607" rpy="0 -0.15197 -2.8876" />
+    <parent link="l_p_link0" />
+    <child link="l_p_link6" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link1_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link1_4" />
+    <child link="l_f_link1_tip" />
+  </joint>
+
+  <link name="l_f_link2_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint2_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link2_4" />
+    <child link="l_f_link2_tip" />
+  </joint>
+
+  <link name="l_f_link3_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint3_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link3_4" />
+    <child link="l_f_link3_tip" />
+  </joint>
+
+  <link name="l_f_link4_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint4_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link4_4" />
+    <child link="l_f_link4_tip" />
+  </joint>
+
+  <link name="l_f_link5_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="l_f_link5_4" />
+    <child link="l_f_link5_tip" />
+  </joint>
+
+
+
+
+
+
+
+
+
+
+</robot>

Robots_p/jaka_zu7+dexhand021/urdf/Multi_jaka_zu7.urdf

@@ -0,0 +1,445 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /ros2_workspace/install/ur_description/share/ur_description/urdf/ur.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="muitl_jaka_zu7">
+
+    <link name="Link_0">     
+        <inertial>
+            <origin xyz="0.00096371 8.8222E-08 0.019555" rpy="0 0 0" />
+            <mass value="4.0392" />
+            <inertia ixx="0.0048763" ixy="-1.8056E-07" ixz="2.5196E-05" iyy="0.0068003" iyz="-1.7678E-09" izz="0.010618" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_0.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_0.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_1">   
+        <inertial>
+            <origin xyz="-2.5186E-07 0.0033226 -0.001509" rpy="0 0 0" />
+            <mass value="15.135" />
+            <inertia ixx="0.044302" ixy="1.5349E-07" ixz="-6.1966E-07" iyy="0.043091" iyz="1.4326E-05" izz="0.030523" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_1.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_2">       
+        <inertial>
+            <origin xyz="0.18 8.8001E-09 -0.14308" rpy="0 0 0" />
+            <mass value="42.872" />
+            <inertia ixx="0.1014" ixy="-1.1106E-06" ixz="-1.3363E-07" iyy="1.1119" iyz="2.9045E-08" izz="1.0844" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_2.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_3">    
+        <inertial>
+            <origin xyz="0.15515 5.4643E-08 -0.012576" rpy="0 0 0" />
+            <mass value="16.562" />
+            <inertia ixx="0.020968" ixy="-3.9001E-06" ixz="-0.018394" iyy="0.28365" iyz="-1.2859E-07" izz="0.27848" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_3.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_4">     
+        <inertial>
+            <origin xyz="-2.1345E-06 -0.0058004 0.0026717" rpy="0 0 0" />
+            <mass value="5.5525" />
+            <inertia ixx="0.0092564" ixy="1.1341E-07" ixz="-1.2578E-08" iyy="0.0052251" iyz="-8.3499E-05" izz="0.0089683" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_4.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_5">     
+        <inertial>
+            <origin xyz="-2.0304E-06 -0.0028889 -0.0023424" rpy="0 0 0" />
+            <mass value="6.3339" />
+            <inertia ixx="0.012993" ixy="-1.0764E-07" ixz="5.8559E-09" iyy="0.0058454" iyz="4.5426E-05" izz="0.0127" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_6">  
+        <inertial>
+            <origin xyz="2.7652E-05 -1.3485E-05 -0.021245" rpy="0 0 0" />
+            <mass value="1.4169" />
+            <inertia ixx="0.00071853" ixy="-6.9778E-07" ixz="-6.378E-07" iyy="0.00072375" iyz="8.3072E-07" izz="0.0011337" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_6.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_1" type="revolute">
+        <origin xyz="0 0 0.12015" rpy="0 0 0" />
+        <parent link="Link_0" />
+        <child link="Link_1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="2000" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="Link_1" />
+        <child link="Link_2" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.48" upper="4.62" effort="1500" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_3" type="revolute">
+        <origin xyz="0.36 0 0" rpy="0 0 0" />
+        <parent link="Link_2" />
+        <child link="Link_3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.05" upper="3.05" effort="1500" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_4" type="revolute">
+        <origin xyz="0.30353 0 -0.11501" rpy="0 0 0" />
+        <parent link="Link_3" />
+        <child link="Link_4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.48" upper="4.62" effort="1000" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_5" type="revolute">
+        <origin xyz="0 -0.1135 0" rpy="1.5708 3.14 0" />
+        <parent link="Link_4" />
+        <child link="Link_5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="1000" velocity="3.14" />
+    </joint>
+    
+    <joint name="joint_6" type="revolute">
+        <origin xyz="0 0.0003 0" rpy="-1.5708 0 0" />
+        <parent link="Link_5" />
+        <child link="Link_6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="1000" velocity="3.14" />
+    </joint>
+
+    <joint name="distance_joint" type="fixed">
+      <origin xyz="0 1.3 0" rpy="0 0 -3.14"/>
+      <parent link="Link_0"/>
+      <child link="l_Link_0"/>
+    </joint>
+  
+    <link name="l_Link_0">     
+        <inertial>
+            <origin xyz="0.00096371 8.8222E-08 0.019555" rpy="0 0 0" />
+            <mass value="4.0392" />
+            <inertia ixx="0.0048763" ixy="-1.8056E-07" ixz="2.5196E-05" iyy="0.0068003" iyz="-1.7678E-09" izz="0.010618" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_0.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_0.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="l_Link_1">   
+        <inertial>
+            <origin xyz="-2.5186E-07 0.0033226 -0.001509" rpy="0 0 0" />
+            <mass value="15.135" />
+            <inertia ixx="0.044302" ixy="1.5349E-07" ixz="-6.1966E-07" iyy="0.043091" iyz="1.4326E-05" izz="0.030523" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_1.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="l_Link_2">       
+        <inertial>
+            <origin xyz="0.18 8.8001E-09 -0.14308" rpy="0 0 0" />
+            <mass value="42.872" />
+            <inertia ixx="0.1014" ixy="-1.1106E-06" ixz="-1.3363E-07" iyy="1.1119" iyz="2.9045E-08" izz="1.0844" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_2.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="l_Link_3">    
+        <inertial>
+            <origin xyz="0.15515 5.4643E-08 -0.012576" rpy="0 0 0" />
+            <mass value="16.562" />
+            <inertia ixx="0.020968" ixy="-3.9001E-06" ixz="-0.018394" iyy="0.28365" iyz="-1.2859E-07" izz="0.27848" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_3.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="l_Link_4">     
+        <inertial>
+            <origin xyz="-2.1345E-06 -0.0058004 0.0026717" rpy="0 0 0" />
+            <mass value="5.5525" />
+            <inertia ixx="0.0092564" ixy="1.1341E-07" ixz="-1.2578E-08" iyy="0.0052251" iyz="-8.3499E-05" izz="0.0089683" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_4.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="l_Link_5">     
+        <inertial>
+            <origin xyz="-2.0304E-06 -0.0028889 -0.0023424" rpy="0 0 0" />
+            <mass value="6.3339" />
+            <inertia ixx="0.012993" ixy="-1.0764E-07" ixz="5.8559E-09" iyy="0.0058454" iyz="4.5426E-05" izz="0.0127" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="l_Link_6">  
+        <inertial>
+            <origin xyz="2.7652E-05 -1.3485E-05 -0.021245" rpy="0 0 0" />
+            <mass value="1.4169" />
+            <inertia ixx="0.00071853" ixy="-6.9778E-07" ixz="-6.378E-07" iyy="0.00072375" iyz="8.3072E-07" izz="0.0011337" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="l_joint_1" type="revolute">
+        <origin xyz="0 0 0.12015" rpy="0 0 0" />
+        <parent link="l_Link_0" />
+        <child link="l_Link_1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="2000" velocity="3.14" />
+    </joint>
+
+    <joint name="l_joint_2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 3.14 0" />
+        <parent link="l_Link_1" />
+        <child link="l_Link_2" />
+        <axis xyz="0 0 1" />
+        <limit lower="-4.6216" upper="1.4784" effort="1500" velocity="3.14" />
+    </joint>
+
+    <joint name="l_joint_3" type="revolute">
+        <origin xyz="0.36 0 0" rpy="0 0 0" />
+        <parent link="l_Link_2" />
+        <child link="l_Link_3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.05" upper="3.05" effort="1500" velocity="3.14" />
+    </joint>
+
+    <joint name="l_joint_4" type="revolute">
+        <origin xyz="0.30353 0 -0.11501" rpy="0 0 3.14" />
+        <parent link="l_Link_3" />
+        <child link="l_Link_4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-4.6216" upper="1.4784" effort="1000" velocity="3.14" />
+    </joint>
+
+    <joint name="l_joint_5" type="revolute">
+        <origin xyz="0 -0.1135 0" rpy="1.5708 3.14 0" />
+        <parent link="l_Link_4" />
+        <child link="l_Link_5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="1000" velocity="3.14" />
+    </joint>
+    
+    <joint name="l_joint_6" type="revolute">
+        <origin xyz="0 0.0003 0" rpy="-1.5708 0 0" />
+        <parent link="l_Link_5" />
+        <child link="l_Link_6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="1000" velocity="3.14" />
+    </joint>
+</robot>    
+

Robots_p/jaka_zu7+dexhand021/urdf/Right_Hand.urdf

@@ -0,0 +1,1974 @@
+<?xml version="1.0" ?>
+<robot name="dexhand021_right">
+  <link name="r_p_link0">
+    <inertial>
+      <origin xyz="0.0011074986817912846 0.006472387526997947 0.23409601570168226" rpy="0 0 0" />
+      <mass value="0.4581543554912673" />
+      <inertia ixx="0.0009295048631862754" ixy="-7.470511061531124e-06" ixz="4.688908937883522e-05"
+        iyy="0.0011649372562734278" iyz="-0.00012918188558484213" izz="0.00038367852399730603" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link0.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link0.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="r_f_link1_1">
+    <inertial>
+      <origin xyz="0.002052234636018281 -0.00037264296027423964 -0.018528755499499953" rpy="0 0 0" />
+      <mass value="0.005180345914026771" />
+      <inertia ixx="1.1430624890840813e-06" ixy="5.518285795047138e-09"
+        ixz="-1.0163028770836786e-07" iyy="1.2177661234390168e-06" iyz="3.027326337843877e-08"
+        izz="2.6375976308253893e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_1" type="revolute">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_f_link1_1" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="2.2" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
+
+  <link name="r_f_link1_2">
+    <inertial>
+      <origin xyz="0.021535504665713034 -0.0005063776397706903 0.0008142325238396855" rpy="0 0 0" />
+      <mass value="0.005145873046732899" />
+      <inertia ixx="2.0955625734076771e-07" ixy="9.153029438541743e-09"
+        ixz="-1.1384864654098634e-10" iyy="1.0604069584701188e-06" iyz="-1.1306254380399873e-09"
+        izz="1.0442073361852394e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_2" type="revolute">
+    <origin xyz="0.0083307 0 0" rpy="1.5708 0.019099 0" />
+    <parent link="r_f_link1_1" />
+    <child link="r_f_link1_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" effort="10" velocity="1.5" />
+  </joint>
+
+  <link name="r_f_link1_3">
+    <inertial>
+      <origin xyz="0.013223206653743833 -0.0007239105528826962 0.0012977744957347582" rpy="0 0 0" />
+      <mass value="0.003510129470234603" />
+      <inertia ixx="1.0264326739890384e-07" ixy="1.00343840042598e-08" ixz="-1.5371748569388218e-09"
+        iyy="3.145228617298157e-07" iyz="-3.584871833385339e-11" izz="3.2605393609475024e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_3" type="revolute">
+    <origin xyz="0.043 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_2" />
+    <child link="r_f_link1_3" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" effort="10" velocity="1.5" />
+  </joint>
+
+  <link name="r_f_link1_4">
+    <inertial>
+      <origin xyz="0.016827162662944168 -0.0025428441924313476 0.0012898514164979443" rpy="0 0 0" />
+      <mass value="0.00435766768406691" />
+      <inertia ixx="1.7288868935789171e-07" ixy="7.193280509045394e-08" ixz="9.525487099852026e-11"
+        iyy="5.475564807637529e-07" iyz="-4.665149094714642e-11" izz="5.333289131753525e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+  <joint name="r_f_joint2_2_1" type="fixed">
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+    <child link="r_f_link2_2_1" />
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+  <link name="r_f_link2_2_2">
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+      <material name="">
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+  <joint name="r_f_joint2_2_2" type="fixed">
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+    <parent link="r_f_link2_2" />
+    <child link="r_f_link2_2_2" />
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+  <link name="r_f_link3_2">
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+  <joint name="r_f_joint3_2" type="revolute">
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+  <link name="r_f_link3_3">
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+  <joint name="r_f_joint3_3" type="revolute">
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+  <joint name="r_f_joint3_4" type="revolute">
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+    <parent link="r_f_link3_3" />
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+  <link name="r_f_link3_4_1">
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+    <parent link="r_f_link3_4" />
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+  <link name="r_f_link3_4_2">
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+  <link name="r_f_link3_3_1">
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+  <link name="r_f_link3_2_2">
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+  <joint name="r_f_joint4_3" type="revolute">
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+  <joint name="r_f_joint4_4" type="revolute">
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+    <parent link="r_f_link4_3" />
+    <child link="r_f_link4_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
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+  <link name="r_f_link4_4_1">
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+        izz="3.328060571257918e-09" />
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_4_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_4_1.STL" />
+      </geometry>
+    </collision>
+  </link>
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+  <joint name="r_f_joint4_4_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_4" />
+    <child link="r_f_link4_4_1" />
+    <axis xyz="0 0 0" />
+  </joint>
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+  <link name="r_f_link4_4_2">
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+        iyy="3.262574396227581e-07" iyz="7.694528690012234e-12" izz="2.866601186317795e-07" />
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_4_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_4_2.STL" />
+      </geometry>
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+  </link>
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+  <joint name="r_f_joint4_4_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_4" />
+    <child link="r_f_link4_4_2" />
+    <axis xyz="0 0 0" />
+  </joint>
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+  <link name="r_f_link4_3_2">
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_3_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_3_2.STL" />
+      </geometry>
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+  </link>
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+  <joint name="r_f_joint4_3_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_3" />
+    <child link="r_f_link4_3_2" />
+    <axis xyz="0 0 0" />
+  </joint>
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+  <link name="r_f_link4_3_1">
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+        izz="4.935996044555075e-09" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_3_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_3_1.STL" />
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+  <joint name="r_f_joint4_3_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_3" />
+    <child link="r_f_link4_3_1" />
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+  <link name="r_f_link4_2_1">
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_2_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_2_1.STL" />
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+  <joint name="r_f_joint4_2_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_2" />
+    <child link="r_f_link4_2_1" />
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+  <link name="r_f_link4_2_2">
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+        izz="5.922202883501009e-07" />
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_2_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_2_2.STL" />
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+  <joint name="r_f_joint4_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_2" />
+    <child link="r_f_link4_2_2" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link5_1">
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_1.STL" />
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_1.STL" />
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+  <joint name="r_f_joint5_1" type="revolute">
+    <origin xyz="0.037988 0.006966 0.3157" rpy="-1.5708 -1.5708 0" />
+    <parent link="r_p_link0" />
+    <child link="r_f_link5_1" />
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+    <limit lower="0" upper="0.6" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link5_2">
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+      <geometry>
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+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2.STL" />
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+  <joint name="r_f_joint5_2" type="revolute">
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+    <parent link="r_f_link5_1" />
+    <child link="r_f_link5_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link5_3">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3.STL" />
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+  <joint name="r_f_joint5_3" type="revolute">
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+    <parent link="r_f_link5_2" />
+    <child link="r_f_link5_3" />
+    <axis xyz="0 0 1" />
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+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link5_4">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_4.STL" />
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+      <material name="">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_4.STL" />
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+  <joint name="r_f_joint5_4" type="revolute">
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+    <parent link="r_f_link5_3" />
+    <child link="r_f_link5_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link5_4_1">
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  <joint name="r_f_joint5_4_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_4" />
+    <child link="r_f_link5_4_1" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link5_4_2">
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+      <geometry>
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+      <material name="">
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+  <joint name="r_f_joint5_4_2" type="fixed">
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+    <parent link="r_f_link5_4" />
+    <child link="r_f_link5_4_2" />
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+  <link name="r_f_link5_3_1">
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+  <joint name="r_f_joint5_3_1" type="fixed">
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+    <parent link="r_f_link5_3" />
+    <child link="r_f_link5_3_1" />
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+  <link name="r_f_link5_3_2">
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+      <geometry>
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+  <joint name="r_f_joint5_3_2" type="fixed">
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+    <parent link="r_f_link5_3" />
+    <child link="r_f_link5_3_2" />
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+  <link name="r_f_link5_2_1">
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+      <geometry>
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+      <geometry>
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+  <joint name="r_f_joint5_2_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_2" />
+    <child link="r_f_link5_2_1" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link5_2_2">
+    <inertial>
+      <origin xyz="0.021873800021581506 -0.0029659448659418476 3.426541867502145e-06" rpy="0 0 0" />
+      <mass value="0.002679962972544193" />
+      <inertia ixx="2.46106262933422e-07" ixy="5.789691111700786e-09" ixz="1.3825483861714583e-10"
+        iyy="6.71303134378717e-07" iyz="6.228665402449863e-11" izz="5.922202883500982e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_2" />
+    <child link="r_f_link5_2_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="r_p_link1">
+    <inertial>
+      <origin xyz="-0.03983372937532701 0.048318738836771104 -0.023220400917865352" rpy="0 0 0" />
+      <mass value="0.08395173603509726" />
+      <inertia ixx="0.00012040829039635112" ixy="-1.165209573497419e-05"
+        ixz="-7.789908423713231e-06" iyy="0.00014604141761124853" iyz="-2.991920415909922e-05"
+        izz="4.7314809288739126e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link3">
+    <inertial>
+      <origin xyz="-0.023161994358886367 0.008827545164030117 0.028148918014715408" rpy="0 0 0" />
+      <mass value="0.044023395748120794" />
+      <inertia ixx="1.657783033756586e-05" ixy="-1.0074900806535015e-05"
+        ixz="-2.7952616846464315e-06" iyy="4.857172440501163e-05" iyz="-3.7260527167385354e-06"
+        izz="3.9136531429190556e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint3" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link3" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link4">
+    <inertial>
+      <origin xyz="-0.029728719311365205 -0.005167865235956345 -0.049836801625217676" rpy="0 0 0" />
+      <mass value="0.08245656201270479" />
+      <inertia ixx="5.0966548840461536e-05" ixy="-1.8079842771281853e-05"
+        ixz="7.255409393800377e-06" iyy="0.0001400271032885779" iyz="-1.8792898324957583e-06"
+        izz="0.00011089137773553913" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint4" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link4" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link5">
+    <inertial>
+      <origin xyz="-0.02256730562958097 -0.008908175434005319 -0.04271790120102455" rpy="0 0 0" />
+      <mass value="0.022516997147359073" />
+      <inertia ixx="6.9054075800312385e-06" ixy="-4.748758245879274e-06" ixz="2.480307192762497e-06"
+        iyy="2.6840879459598314e-05" iyz="-2.977574673633291e-07" izz="2.3808613382932757e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link5" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link6">
+    <inertial>
+      <origin xyz="-0.03535057740967973 0.043677222866326595 -0.0050236994810133224" rpy="0 0 0" />
+      <mass value="0.11253371281264385" />
+      <inertia ixx="0.0003117175467033626" ixy="-5.4116455221252724e-05"
+        ixz="-6.753370576657375e-06" iyy="0.0004800635113732598" iyz="-7.067860373900912e-05"
+        izz="0.0002442919035738954" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint6" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link6" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link2">
+    <inertial>
+      <origin xyz="-0.02488575295174602 0.013706703059175068 0.02016484295334375" rpy="0 0 0" />
+      <mass value="0.07899657199227124" />
+      <inertia ixx="4.975254347933829e-05" ixy="-3.0011939254056938e-05"
+        ixz="3.5761513462259534e-07" iyy="0.00015515806271547663" iyz="-5.261583107963936e-06"
+        izz="0.00013160402220833075" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint2" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+
+  <link name="r_f_link1_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link1_4" />
+    <child link="r_f_link1_tip" />
+  </joint>
+
+  <link name="r_f_link2_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint2_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link2_4" />
+    <child link="r_f_link2_tip" />
+  </joint>
+
+  <link name="r_f_link3_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint3_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link3_4" />
+    <child link="r_f_link3_tip" />
+  </joint>
+
+  <link name="r_f_link4_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint4_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link4_4" />
+    <child link="r_f_link4_tip" />
+  </joint>
+
+  <link name="r_f_link5_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link5_4" />
+    <child link="r_f_link5_tip" />
+  </joint>
+
+
+
+
+
+
+
+
+
+
+</robot>

Robots_p/jaka_zu7+dexhand021/urdf/Right_jaka_zu7_dexhand021_with_flange_with_flange.urdf

@@ -0,0 +1,2202 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /ros2_workspace/install/ur_description/share/ur_description/urdf/ur.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="right_jaka_zu7_dexhand021_with_flange">
+
+    <link name="Link_0">     
+        <inertial>
+            <origin xyz="0.00096371 8.8222E-08 0.019555" rpy="0 0 0" />
+            <mass value="4.0392" />
+            <inertia ixx="0.0048763" ixy="-1.8056E-07" ixz="2.5196E-05" iyy="0.0068003" iyz="-1.7678E-09" izz="0.010618" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_0.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_0.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_1">   
+        <inertial>
+            <origin xyz="-2.5186E-07 0.0033226 -0.001509" rpy="0 0 0" />
+            <mass value="15.135" />
+            <inertia ixx="0.044302" ixy="1.5349E-07" ixz="-6.1966E-07" iyy="0.043091" iyz="1.4326E-05" izz="0.030523" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_1.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_2">       
+        <inertial>
+            <origin xyz="0.18 8.8001E-09 -0.14308" rpy="0 0 0" />
+            <mass value="42.872" />
+            <inertia ixx="0.1014" ixy="-1.1106E-06" ixz="-1.3363E-07" iyy="1.1119" iyz="2.9045E-08" izz="1.0844" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_2.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_3">    
+        <inertial>
+            <origin xyz="0.15515 5.4643E-08 -0.012576" rpy="0 0 0" />
+            <mass value="16.562" />
+            <inertia ixx="0.020968" ixy="-3.9001E-06" ixz="-0.018394" iyy="0.28365" iyz="-1.2859E-07" izz="0.27848" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_3.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_4">     
+        <inertial>
+            <origin xyz="-2.1345E-06 -0.0058004 0.0026717" rpy="0 0 0" />
+            <mass value="5.5525" />
+            <inertia ixx="0.0092564" ixy="1.1341E-07" ixz="-1.2578E-08" iyy="0.0052251" iyz="-8.3499E-05" izz="0.0089683" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_4.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_5">     
+        <inertial>
+            <origin xyz="-2.0304E-06 -0.0028889 -0.0023424" rpy="0 0 0" />
+            <mass value="6.3339" />
+            <inertia ixx="0.012993" ixy="-1.0764E-07" ixz="5.8559E-09" iyy="0.0058454" iyz="4.5426E-05" izz="0.0127" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="Link_6">  
+        <inertial>
+            <origin xyz="2.7652E-05 -1.3485E-05 -0.021245" rpy="0 0 0" />
+            <mass value="1.4169" />
+            <inertia ixx="0.00071853" ixy="-6.9778E-07" ixz="-6.378E-07" iyy="0.00072375" iyz="8.3072E-07" izz="0.0011337" />
+        </inertial>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_6.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="joint_1" type="revolute">
+        <origin xyz="0 0 0.12015" rpy="0 0 0" />
+        <parent link="Link_0" />
+        <child link="Link_1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="2000" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="Link_1" />
+        <child link="Link_2" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.48" upper="4.62" effort="1500" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_3" type="revolute">
+        <origin xyz="0.36 0 0" rpy="0 0 0" />
+        <parent link="Link_2" />
+        <child link="Link_3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.05" upper="3.05" effort="1500" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_4" type="revolute">
+        <origin xyz="0.30353 0 -0.11501" rpy="0 0 0" />
+        <parent link="Link_3" />
+        <child link="Link_4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.48" upper="4.62" effort="1000" velocity="3.14" />
+    </joint>
+
+    <joint name="joint_5" type="revolute">
+        <origin xyz="0 -0.1135 0" rpy="1.5708 3.14 0" />
+        <parent link="Link_4" />
+        <child link="Link_5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="1000" velocity="3.14" />
+    </joint>
+    
+    <joint name="joint_6" type="revolute">
+        <origin xyz="0 0.0003 0" rpy="-1.5708 0 0" />
+        <parent link="Link_5" />
+        <child link="Link_6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-6.28" upper="6.28" effort="1000" velocity="3.14" />
+    </joint>
+    
+    <joint name="Link_6_to_r_p_link0" type="fixed">
+      <origin xyz="0 0 -0.05" rpy="0 0 3.12414"/>
+      <parent link="Link_6"/>
+      <child link="r_p_link0"/>
+    </joint>     
+    
+  <link name="r_p_link0">
+    <inertial>
+      <origin xyz="0.0011074986817912846 0.006472387526997947 0.23409601570168226" rpy="0 0 0" />
+      <mass value="0.4581543554912673" />
+      <inertia ixx="0.0009295048631862754" ixy="-7.470511061531124e-06" ixz="4.688908937883522e-05"
+        iyy="0.0011649372562734278" iyz="-0.00012918188558484213" izz="0.00038367852399730603" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link0.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link0.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="r_f_link1_1">
+    <inertial>
+      <origin xyz="0.002052234636018281 -0.00037264296027423964 -0.018528755499499953" rpy="0 0 0" />
+      <mass value="0.005180345914026771" />
+      <inertia ixx="1.1430624890840813e-06" ixy="5.518285795047138e-09"
+        ixz="-1.0163028770836786e-07" iyy="1.2177661234390168e-06" iyz="3.027326337843877e-08"
+        izz="2.6375976308253893e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_1" type="revolute">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_f_link1_1" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="2.2" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
+
+  <link name="r_f_link1_2">
+    <inertial>
+      <origin xyz="0.021535504665713034 -0.0005063776397706903 0.0008142325238396855" rpy="0 0 0" />
+      <mass value="0.005145873046732899" />
+      <inertia ixx="2.0955625734076771e-07" ixy="9.153029438541743e-09"
+        ixz="-1.1384864654098634e-10" iyy="1.0604069584701188e-06" iyz="-1.1306254380399873e-09"
+        izz="1.0442073361852394e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_2" type="revolute">
+    <origin xyz="0.0083307 0 0" rpy="1.5708 0.019099 0" />
+    <parent link="r_f_link1_1" />
+    <child link="r_f_link1_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" effort="10" velocity="1.5" />
+  </joint>
+
+  <link name="r_f_link1_3">
+    <inertial>
+      <origin xyz="0.013223206653743833 -0.0007239105528826962 0.0012977744957347582" rpy="0 0 0" />
+      <mass value="0.003510129470234603" />
+      <inertia ixx="1.0264326739890384e-07" ixy="1.00343840042598e-08" ixz="-1.5371748569388218e-09"
+        iyy="3.145228617298157e-07" iyz="-3.584871833385339e-11" izz="3.2605393609475024e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_3" type="revolute">
+    <origin xyz="0.043 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_2" />
+    <child link="r_f_link1_3" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" effort="10" velocity="1.5" />
+  </joint>
+
+  <link name="r_f_link1_4">
+    <inertial>
+      <origin xyz="0.016827162662944168 -0.0025428441924313476 0.0012898514164979443" rpy="0 0 0" />
+      <mass value="0.00435766768406691" />
+      <inertia ixx="1.7288868935789171e-07" ixy="7.193280509045394e-08" ixz="9.525487099852026e-11"
+        iyy="5.475564807637529e-07" iyz="-4.665149094714642e-11" izz="5.333289131753525e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_4" type="revolute">
+    <origin xyz="0.025 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_3" />
+    <child link="r_f_link1_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" effort="10" velocity="1.5" />
+  </joint>
+
+  <link name="r_f_link1_4_1">
+    <inertial>
+      <origin xyz="0.00976545037646227 0.006088691115452144 0.0012928496121529978" rpy="0 0 0" />
+      <mass value="0.00037285923791626445" />
+      <inertia ixx="1.0806913722591278e-08" ixy="-1.434355226187965e-10" ixz="7.904650389859608e-13"
+        iyy="1.2799737603403856e-08" iyz="9.706804921696106e-14" izz="2.971985515053042e-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_4_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_4_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="r_f_joint1_4_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_4" />
+    <child link="r_f_link1_4_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link1_4_2">
+    <inertial>
+      <origin xyz="0.015433183995062187 -0.0061487266621455365 0.0012940973222927408" rpy="0 0 0" />
+      <mass value="0.0019468120969125988" />
+      <inertia ixx="1.4302400339154933e-07" ixy="4.887309828246755e-08"
+        ixz="-5.6859194196016716e-11" iyy="3.2625738627404407e-07" iyz="7.480451372260064e-12"
+        izz="2.8666011578141626e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_4_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_4_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_4_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_4" />
+    <child link="r_f_link1_4_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link1_3_1">
+    <inertial>
+      <origin xyz="0.012419626621348002 0.007723681641112162 0.0012920357276482693" rpy="0 0 0" />
+      <mass value="0.0004927439497821333" />
+      <inertia ixx="1.4812698827671589e-08" ixy="-2.4625303330183365e-10"
+        ixz="-5.204752318762885e-13" iyy="1.6886270323136852e-08" iyz="-7.055265282688354e-13"
+        izz="4.840002879941831e-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_3_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_3_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_3_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_3" />
+    <child link="r_f_link1_3_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="r_f_link1_3_2">
+    <inertial>
+      <origin xyz="0.012938038149695234 -0.004966116981932351 0.0012957151384533254" rpy="0 0 0" />
+      <mass value="0.0009264867224319483" />
+      <inertia ixx="5.3427012938718874e-08" ixy="7.101425075294421e-10" ixz="-1.771926549530019e-12"
+        iyy="7.062474289204522e-08" iyz="1.4720413014316507e-12" izz="4.7550430803969935e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_3_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_3_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_3_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_3" />
+    <child link="r_f_link1_3_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link1_2_1">
+    <inertial>
+      <origin xyz="0.02043366719765508 0.0095110012352192 0.0012923408126127045" rpy="0 0 0" />
+      <mass value="0.0016354719692142122" />
+      <inertia ixx="4.4067685809533426e-08" ixy="3.6957813554077775e-09" ixz="6.271444606736929e-12"
+        iyy="9.649204412507138e-08" iyz="-3.0566463158202232e-12" izz="6.793850270146395e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_2_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_2_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_2_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_2" />
+    <child link="r_f_link1_2_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link1_2_2">
+    <inertial>
+      <origin xyz="0.022921501261816545 -0.0027716306188103625 0.0012979021572152708" rpy="0 0 0" />
+      <mass value="0.002536590997261413" />
+      <inertia ixx="2.2859663761882353e-07" ixy="1.3411101520302956e-08"
+        ixz="3.0992878304785846e-10" iyy="6.01449052592349e-07" iyz="9.341938224099394e-11"
+        izz="5.304297061779193e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_2_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_2_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_2" />
+    <child link="r_f_link1_2_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link2_1">
+    <inertial>
+      <origin xyz="0.00800686231185624 1.8338860572319307e-05 -0.0015842278080929802" rpy="0 0 0" />
+      <mass value="0.0035185790867912825" />
+      <inertia ixx="2.306699006679482e-07" ixy="-8.218728590128597e-10" ixz="4.890426965618435e-08"
+        iyy="3.7198481717440745e-07" iyz="-1.5962544309162244e-10" izz="2.980052968729545e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint2_1" type="revolute">
+    <origin xyz="-0.034912 0.006966 0.3297" rpy="-1.5704 -1.5708 -0.00037051" />
+    <parent link="r_p_link0" />
+    <child link="r_f_link2_1" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="0.6" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
+
+  <link name="r_f_link2_2">
+    <inertial>
+      <origin xyz="0.021444679550905597 -0.00046289490893125946 -0.00047869270897582744" rpy="0 0 0" />
+      <mass value="0.00498936744865468" />
+      <inertia ixx="2.0644763911341987e-07" ixy="8.780455972495662e-09" ixz="-2.955798697672007e-10"
+        iyy="1.0552014748309064e-06" iyz="-9.019287841475982e-10" izz="1.0401625323233909e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint2_2" type="revolute">
+    <origin xyz="0.017 0 0" rpy="1.5708 0 0" />
+    <parent link="r_f_link2_1" />
+    <child link="r_f_link2_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
+
+  <link name="r_f_link2_3">
+    <inertial>
+      <origin xyz="0.013280328692675957 -0.000619931592170148 -1.7863321659893763e-05" rpy="0 0 0" />
+      <mass value="0.003320332898413509" />
+      <inertia ixx="9.569221204956144e-08" ixy="1.0826362598444603e-08" ixz="-1.618171363270053e-09"
+        iyy="3.077893159220674e-07" iyz="-8.827964273954512e-11" izz="3.2064040293000985e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
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+    <child link="r_f_link2_3" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
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+  <link name="r_f_link2_4">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_4.STL" />
+      </geometry>
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+  </link>
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+  <joint name="r_f_joint2_4" type="revolute">
+    <origin xyz="0.025 0 0" rpy="0 0 0" />
+    <parent link="r_f_link2_3" />
+    <child link="r_f_link2_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
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+  <link name="r_f_link2_4_1">
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+        izz="3.3280605712689166e-09" />
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+      <geometry>
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+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_4_1.STL" />
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+  <joint name="r_f_joint2_4_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link2_4" />
+    <child link="r_f_link2_4_1" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link2_4_2">
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+      <geometry>
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+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_4_2.STL" />
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+  <joint name="r_f_joint2_4_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link2_4" />
+    <child link="r_f_link2_4_2" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link2_3_1">
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+      <geometry>
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+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_3_1.STL" />
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+  <joint name="r_f_joint2_3_1" type="fixed">
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+    <parent link="r_f_link2_3" />
+    <child link="r_f_link2_3_1" />
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+  <link name="r_f_link2_3_2">
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_3_2.STL" />
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_3_2.STL" />
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+  <joint name="r_f_joint2_3_2" type="fixed">
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+    <parent link="r_f_link2_3" />
+    <child link="r_f_link2_3_2" />
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+  <link name="r_f_link2_2_1">
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  <joint name="r_f_joint2_2_1" type="fixed">
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+    <parent link="r_f_link2_2" />
+    <child link="r_f_link2_2_1" />
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+  <link name="r_f_link2_2_2">
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+      <geometry>
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+      <material name="">
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+  <joint name="r_f_joint2_2_2" type="fixed">
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+    <parent link="r_f_link2_2" />
+    <child link="r_f_link2_2_2" />
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+      <geometry>
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+      <geometry>
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+  <joint name="r_f_joint3_1" type="revolute">
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+    <parent link="r_p_link0" />
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+  <link name="r_f_link3_2">
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+      <geometry>
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+      <geometry>
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+  <joint name="r_f_joint3_2" type="revolute">
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+    <parent link="r_f_link3_1" />
+    <child link="r_f_link3_2" />
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+  <link name="r_f_link3_3">
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  <joint name="r_f_joint3_3" type="revolute">
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+    <parent link="r_f_link3_2" />
+    <child link="r_f_link3_3" />
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+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link3_4">
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+      <material name="">
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+      <geometry>
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+  <joint name="r_f_joint3_4" type="revolute">
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+    <parent link="r_f_link3_3" />
+    <child link="r_f_link3_4" />
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+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link3_4_1">
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+  <joint name="r_f_joint3_4_1" type="fixed">
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+  <link name="r_f_link3_4_2">
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+  <link name="r_f_link3_3_1">
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+  <joint name="r_f_joint3_3_1" type="fixed">
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+    <parent link="r_f_link3_3" />
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+  <joint name="r_f_joint3_3_2" type="fixed">
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+    <parent link="r_f_link3_3" />
+    <child link="r_f_link3_3_2" />
+    <axis xyz="0 0 0" />
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+        izz="4.1669289502301566e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_2_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_2_1.STL" />
+      </geometry>
+    </collision>
+  </link>
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+  <joint name="r_f_link3_2_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link3_2" />
+    <child link="r_f_link3_2_1" />
+    <axis xyz="0 0 0" />
+  </joint>
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+  <link name="r_f_link3_2_2">
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_2_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_2_2.STL" />
+      </geometry>
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+  </link>
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+  <joint name="r_f_joint3_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link3_2" />
+    <child link="r_f_link3_2_2" />
+    <axis xyz="0 0 0" />
+  </joint>
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+  <link name="r_f_link4_1">
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_1.STL" />
+      </geometry>
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+  </link>
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+  <joint name="r_f_joint4_1" type="revolute">
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+    <parent link="r_p_link0" />
+    <child link="r_f_link4_1" />
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+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
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+  <link name="r_f_link4_2">
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_2.STL" />
+      </geometry>
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+  </link>
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+  <joint name="r_f_joint4_2" type="revolute">
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+    <parent link="r_f_link4_1" />
+    <child link="r_f_link4_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link4_3">
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+        izz="3.206404029300517e-07" />
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_3.STL" />
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+  <joint name="r_f_joint4_3" type="revolute">
+    <origin xyz="0.043 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_2" />
+    <child link="r_f_link4_3" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link4_4">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_4.STL" />
+      </geometry>
+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_4.STL" />
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+  <joint name="r_f_joint4_4" type="revolute">
+    <origin xyz="0.025 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_3" />
+    <child link="r_f_link4_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link4_4_1">
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+        izz="3.328060571257918e-09" />
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+    <visual>
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+      <geometry>
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+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+      <geometry>
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+  <joint name="r_f_joint4_4_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_4" />
+    <child link="r_f_link4_4_1" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link4_4_2">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_4_2.STL" />
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+      <geometry>
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+  <joint name="r_f_joint4_4_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_4" />
+    <child link="r_f_link4_4_2" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link4_3_2">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_3_2.STL" />
+      </geometry>
+      <material name="">
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+      <geometry>
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+  <joint name="r_f_joint4_3_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_3" />
+    <child link="r_f_link4_3_2" />
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+  <link name="r_f_link4_3_1">
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+      <geometry>
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+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+      <geometry>
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+  <joint name="r_f_joint4_3_1" type="fixed">
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+    <parent link="r_f_link4_3" />
+    <child link="r_f_link4_3_1" />
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+  <link name="r_f_link4_2_1">
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+      <geometry>
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+  <joint name="r_f_joint4_2_1" type="fixed">
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+    <parent link="r_f_link4_2" />
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+  <link name="r_f_link4_2_2">
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  <joint name="r_f_joint4_2_2" type="fixed">
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+  <link name="r_f_link5_1">
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  <joint name="r_f_joint5_1" type="revolute">
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+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link5_2">
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+      <material name="">
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+      <geometry>
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+  <joint name="r_f_joint5_2" type="revolute">
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+    <parent link="r_f_link5_1" />
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+    <joint_properties damping="0.3" friction="0.5" />
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+      <geometry>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3.STL" />
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+  <joint name="r_f_joint5_3" type="revolute">
+    <origin xyz="0.043 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_2" />
+    <child link="r_f_link5_3" />
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+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link5_4">
+    <inertial>
+      <origin xyz="0.016835724193078983 -0.0025451339066119762 -2.375807710636194e-06" rpy="0 0 0" />
+      <mass value="0.004352952855182437" />
+      <inertia ixx="1.7269823605837294e-07" ixy="7.185121819458006e-08" ixz="1.0129642288770988e-10"
+        iyy="5.470938167242791e-07" iyz="-4.58411448890324e-11" izz="5.330028980487818e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_4" type="revolute">
+    <origin xyz="0.025 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_3" />
+    <child link="r_f_link5_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
+    <joint_properties damping="0.3" friction="0.5" />
+  </joint>
+
+  <link name="r_f_link5_4_1">
+    <inertial>
+      <origin xyz="0.009738422454345726 0.005930029867607992 5.184464520480232e-07" rpy="0 0 0" />
+      <mass value="0.0003894330192680039" />
+      <inertia ixx="1.1761888706684738e-08" ixy="-1.9209378388774791e-10"
+        ixz="1.186284566954947e-12" iyy="1.343212147099201e-08" iyz="1.5284533404108687e-13"
+        izz="3.3280605709656387e-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_4_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_4_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_4_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_4" />
+    <child link="r_f_link5_4_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link5_4_2">
+    <inertial>
+      <origin xyz="0.0154331838795733 -0.006148726613435892 1.6634833667932593e-06" rpy="0 0 0" />
+      <mass value="0.0019468121678303657" />
+      <inertia ixx="1.4302405503834416e-07" ixy="4.887309883330095e-08" ixz="-5.680610238540891e-11"
+        iyy="3.2625743968777925e-07" iyz="7.69452862032312e-12" izz="2.866601186965895e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_4_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_4_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_4_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_4" />
+    <child link="r_f_link5_4_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link5_3_1">
+    <inertial>
+      <origin xyz="0.012402519029617032 0.007714920695189426 1.7562179048963862e-09" rpy="0 0 0" />
+      <mass value="0.0004998303821669769" />
+      <inertia ixx="1.5124255824896716e-08" ixy="-2.547965438512407e-10"
+        ixz="1.4306529804306637e-13" iyy="1.7135204383016278e-08" iyz="-1.960486240812324e-13"
+        izz="4.935996044554998e-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_3_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_3" />
+    <child link="r_f_link5_3_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link5_3_2">
+    <inertial>
+      <origin xyz="0.01293824819777932 -0.0049663796359724266 -5.799490468630916e-07" rpy="0 0 0" />
+      <mass value="0.0009265838824928253" />
+      <inertia ixx="5.343367914587496e-08" ixy="7.11272195391642e-10" ixz="4.75643671594095e-12"
+        iyy="7.063684996215479e-08" iyz="-9.602248319449449e-13" izz="4.755927862545644e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_3_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_3" />
+    <child link="r_f_link5_3_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link5_2_1">
+    <inertial>
+      <origin xyz="0.020377386408241372 0.008105578472303553 -1.8358250729477754e-09" rpy="0 0 0" />
+      <mass value="0.0009340644343591205" />
+      <inertia ixx="2.720253099758908e-08" ixy="2.3188305777278408e-09" ixz="1.487247753426462e-12"
+        iyy="6.511791793427604e-08" iyz="-3.0048229347950653e-14" izz="4.1669289501701814e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_2_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_2" />
+    <child link="r_f_link5_2_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_f_link5_2_2">
+    <inertial>
+      <origin xyz="0.021873800021581506 -0.0029659448659418476 3.426541867502145e-06" rpy="0 0 0" />
+      <mass value="0.002679962972544193" />
+      <inertia ixx="2.46106262933422e-07" ixy="5.789691111700786e-09" ixz="1.3825483861714583e-10"
+        iyy="6.71303134378717e-07" iyz="6.228665402449863e-11" izz="5.922202883500982e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link5_2" />
+    <child link="r_f_link5_2_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="r_p_link1">
+    <inertial>
+      <origin xyz="-0.03983372937532701 0.048318738836771104 -0.023220400917865352" rpy="0 0 0" />
+      <mass value="0.08395173603509726" />
+      <inertia ixx="0.00012040829039635112" ixy="-1.165209573497419e-05"
+        ixz="-7.789908423713231e-06" iyy="0.00014604141761124853" iyz="-2.991920415909922e-05"
+        izz="4.7314809288739126e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link3">
+    <inertial>
+      <origin xyz="-0.023161994358886367 0.008827545164030117 0.028148918014715408" rpy="0 0 0" />
+      <mass value="0.044023395748120794" />
+      <inertia ixx="1.657783033756586e-05" ixy="-1.0074900806535015e-05"
+        ixz="-2.7952616846464315e-06" iyy="4.857172440501163e-05" iyz="-3.7260527167385354e-06"
+        izz="3.9136531429190556e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint3" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link3" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link4">
+    <inertial>
+      <origin xyz="-0.029728719311365205 -0.005167865235956345 -0.049836801625217676" rpy="0 0 0" />
+      <mass value="0.08245656201270479" />
+      <inertia ixx="5.0966548840461536e-05" ixy="-1.8079842771281853e-05"
+        ixz="7.255409393800377e-06" iyy="0.0001400271032885779" iyz="-1.8792898324957583e-06"
+        izz="0.00011089137773553913" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint4" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link4" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link5">
+    <inertial>
+      <origin xyz="-0.02256730562958097 -0.008908175434005319 -0.04271790120102455" rpy="0 0 0" />
+      <mass value="0.022516997147359073" />
+      <inertia ixx="6.9054075800312385e-06" ixy="-4.748758245879274e-06" ixz="2.480307192762497e-06"
+        iyy="2.6840879459598314e-05" iyz="-2.977574673633291e-07" izz="2.3808613382932757e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link5" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link6">
+    <inertial>
+      <origin xyz="-0.03535057740967973 0.043677222866326595 -0.0050236994810133224" rpy="0 0 0" />
+      <mass value="0.11253371281264385" />
+      <inertia ixx="0.0003117175467033626" ixy="-5.4116455221252724e-05"
+        ixz="-6.753370576657375e-06" iyy="0.0004800635113732598" iyz="-7.067860373900912e-05"
+        izz="0.0002442919035738954" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint6" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link6" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="r_p_link2">
+    <inertial>
+      <origin xyz="-0.02488575295174602 0.013706703059175068 0.02016484295334375" rpy="0 0 0" />
+      <mass value="0.07899657199227124" />
+      <inertia ixx="4.975254347933829e-05" ixy="-3.0011939254056938e-05"
+        ixz="3.5761513462259534e-07" iyy="0.00015515806271547663" iyz="-5.261583107963936e-06"
+        izz="0.00013160402220833075" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint2" type="fixed">
+    <origin xyz="-0.023855 0.032704 0.27707" rpy="0.26842 -0.15197 2.8876" />
+    <parent link="r_p_link0" />
+    <child link="r_p_link2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+
+  <link name="r_f_link1_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint1_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link1_4" />
+    <child link="r_f_link1_tip" />
+  </joint>
+
+  <link name="r_f_link2_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint2_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link2_4" />
+    <child link="r_f_link2_tip" />
+  </joint>
+
+  <link name="r_f_link3_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint3_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link3_4" />
+    <child link="r_f_link3_tip" />
+  </joint>
+
+  <link name="r_f_link4_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint4_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link4_4" />
+    <child link="r_f_link4_tip" />
+  </joint>
+
+  <link name="r_f_link5_tip">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="1.0E-09" ixy="0.0" ixz="0.0" iyy="1.0E-09" iyz="0.0" izz="1.0E-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_tip" type="fixed">
+    <origin xyz="0.035 -0.004 0" rpy="0 0 0" />
+    <parent link="r_f_link5_4" />
+    <child link="r_f_link5_tip" />
+  </joint>
+
+
+
+
+
+
+
+
+
+
+</robot>    
+