diff --git a/.gitattributes b/.gitattributes
index 59734ebc6373c3665bbd209b2f5c2fbad47fcfd0..d6dff8d8c0d4d1334222405399673600df6ee131 100644
--- a/.gitattributes
+++ b/.gitattributes
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 URDF-Zoo/xarm+ability/meshes/visual/link4.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/Robots_p/jaka_zu7+dexhand021/meshes/hand/densities.json b/Robots_p/jaka_zu7+dexhand021/meshes/hand/densities.json
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index 0000000000000000000000000000000000000000..d484af8b0899d60e27ec23a907d037f83887eb2c
--- /dev/null
+++ b/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
+}
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diff --git a/Robots_p/jaka_zu7+dexhand021/urdf/Left_Hand.urdf b/Robots_p/jaka_zu7+dexhand021/urdf/Left_Hand.urdf
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index 0000000000000000000000000000000000000000..3211572d75050ef0799308160cb877cc60741db3
--- /dev/null
+++ b/Robots_p/jaka_zu7+dexhand021/urdf/Left_Hand.urdf
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+<?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"
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+        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" />
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+        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>
+      <origin xyz="0.013223206653742587 0.0007239105528827508 -0.0012977744957348464" rpy="0 0 0" />
+      <mass value="0.003510129470235022" />
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+        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>
+      <origin xyz="0.016827162591071785 0.002542844173764781 -0.0012898514109792828" rpy="0 0 0" />
+      <mass value="0.004357667635534957" />
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+        izz="5.333289098973524e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <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>
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+  <link name="l_f_link1_4_1">
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+  <joint name="l_f_joint1_4_1" type="fixed">
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+    <child link="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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+  <link name="l_f_link1_2_1">
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+  <link name="l_f_link1_2_2">
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+  <joint name="l_f_joint2_1" type="revolute">
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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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+  <link name="l_f_link2_4">
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+  <joint name="l_f_joint2_4" type="revolute">
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+  <link name="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_2" type="fixed">
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+  <link name="l_f_link2_2_2">
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link2_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_link2_2_2.STL" />
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+    </collision>
+  </link>
+
+  <joint name="l_f_joint2_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link2_2" />
+    <child link="l_f_link2_2_2" />
+    <axis xyz="0 0 0" />
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+  <link name="l_f_link3_1">
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+        iyy="3.7198348184027887e-07" iyz="-1.2241591577587476e-10" izz="2.98005295591405e-07" />
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+    </visual>
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+      <geometry>
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+  <joint name="l_f_joint3_1" type="revolute">
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+    <child link="l_f_link3_1" />
+    <axis xyz="0 0 1" />
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+  <link name="l_f_link3_2">
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+      <geometry>
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+      <material name="">
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_2.STL" />
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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" />
+    <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_link3_3">
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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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+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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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" />
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+  <link name="l_f_link3_4">
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_4.STL" />
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+      <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" />
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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" />
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+  <link name="l_f_link3_4_1">
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+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link3_4_1.STL" />
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+      <material name="">
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+      <geometry>
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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" />
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+  <link name="l_f_link3_4_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_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" />
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+  <link name="l_f_link3_3_1">
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+      <geometry>
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+      <material name="">
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+  <joint name="l_f_joint3_3_1" type="fixed">
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+    <parent link="l_f_link3_3" />
+    <child link="l_f_link3_3_1" />
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+  <link name="l_f_link3_3_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="l_f_joint3_3_2" type="fixed">
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+    <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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+      <geometry>
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+      <material name="">
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+  <joint name="l_f_joint3_2_1" type="fixed">
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+  <link name="l_f_link3_2_2">
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+      <geometry>
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+  <joint name="l_f_joint3_2_2" type="fixed">
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+  <link name="l_f_link4_1">
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+      <geometry>
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+  <joint name="l_f_joint4_1" type="revolute">
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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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+  <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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+    <parent link="l_f_link4_2" />
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+  <link name="l_f_link4_4">
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+  <joint name="l_f_joint4_4" type="revolute">
+    <origin xyz="0.025 0 0" rpy="0 0 0" />
+    <parent link="l_f_link4_3" />
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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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+  <link name="l_f_link4_4_2">
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+  <joint name="l_f_joint4_4_2" type="fixed">
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+    <child link="l_f_link4_4_2" />
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+  <link name="l_f_link4_3_1">
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+      <material name="">
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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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+      <material name="">
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+    <child link="l_f_link4_3_2" />
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+  <link name="l_f_link4_2_1">
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+  <joint name="l_f_joint4_2_1" type="fixed">
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+  <link name="l_f_link4_2_2">
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+  <joint name="l_f_joint4_2_2" type="fixed">
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+      <geometry>
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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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+  <joint name="l_f_joint5_3" type="revolute">
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+  <link name="l_f_link5_4">
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+  <joint name="l_f_joint5_4" type="revolute">
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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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+  <link name="l_f_link5_3_1">
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+  <joint name="l_f_joint5_3_2" type="fixed">
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+  <joint name="l_f_joint5_2_1" type="fixed">
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+      <mass value="0.002679962972544193" />
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+        iyy="6.71303134378717e-07" iyz="6.22866540244921e-11" izz="5.922202883500982e-07" />
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+    <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>
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+      <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" />
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+  <link name="l_p_link1">
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+        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>
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_p_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
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+  <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" />
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+        izz="0.00013058028469968588" />
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+    <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>
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+      <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" />
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+        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" />
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+        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>
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+  <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" />
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+        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>
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+  <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" />
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+        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" />
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+    <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>
diff --git a/Robots_p/jaka_zu7+dexhand021/urdf/Left_jaka_zu7_dexhand021_with_flange.urdf b/Robots_p/jaka_zu7+dexhand021/urdf/Left_jaka_zu7_dexhand021_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5e497a8bac990994b98dcb7660c04475a5f89d8
--- /dev/null
+++ b/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" />
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+        <visual>
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+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.84706 0.84706 0.84706 1" />
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+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="../meshes/jaka_zu7/Link_5.STL" />
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+        </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" />
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+
+        <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>
+
+  <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>
+      <origin xyz="0.013223206653742587 0.0007239105528827508 -0.0012977744957348464" rpy="0 0 0" />
+      <mass value="0.003510129470235022" />
+      <inertia ixx="1.0264326739891652e-07" ixy="-1.0034384004261486e-08"
+        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>
+      <origin xyz="0.016827162591071785 0.002542844173764781 -0.0012898514109792828" rpy="0 0 0" />
+      <mass value="0.004357667635534957" />
+      <inertia ixx="1.7288868644056656e-07" ixy="-7.193280428920156e-08"
+        ixz="-9.525535641984676e-11" iyy="5.475564752014148e-07" iyz="-4.665173458394984e-11"
+        izz="5.333289098973524e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <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>
+
+  <link name="l_f_link1_4_2">
+    <inertial>
+      <origin xyz="0.015433183993485528 0.006148726662184262 -0.0012940973222225634" rpy="0 0 0" />
+      <mass value="0.0019468120967671353" />
+      <inertia ixx="1.4302400339125914e-07" ixy="-4.887309828405806e-08" ixz="5.685919131349908e-11"
+        iyy="3.26257386209023e-07" iyz="7.480451441953261e-12" izz="2.8666011571660654e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_4_2.STL" />
+      </geometry>
+    </collision>
+  </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" />
+  </joint>
+
+  <link name="l_f_link1_3_1">
+    <inertial>
+      <origin xyz="0.012419626621347997 -0.007723681641112162 -0.001292035727648269" rpy="0 0 0" />
+      <mass value="0.0004927439497821334" />
+      <inertia ixx="1.4812698827671582e-08" ixy="2.462530333018401e-10" ixz="5.204752318795197e-13"
+        iyy="1.6886270323136902e-08" iyz="-7.055265282688354e-13" izz="4.8400028799418825e-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_3_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <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" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link1_3_2">
+    <inertial>
+      <origin xyz="0.012938038149695234 0.004966116981932351 -0.0012957151384533254" rpy="0 0 0" />
+      <mass value="0.0009264867224319483" />
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+        iyy="7.062474289204522e-08" iyz="1.4720413014316507e-12" izz="4.7550430803969935e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_3_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <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" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link1_2_1">
+    <inertial>
+      <origin xyz="0.020433667197651627 -0.009511001235208358 -0.0012923408126536344" rpy="0 0 0" />
+      <mass value="0.001635471969222149" />
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+        izz="6.793850270150975e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_2_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1_2_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link1_2" />
+    <child link="l_f_link1_2_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link1_2_2">
+    <inertial>
+      <origin xyz="0.022921501261816545 0.0027716306188103625 -0.0012979021572152708" rpy="0 0 0" />
+      <mass value="0.002536590997261413" />
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+        ixz="-3.0992878304785846e-10" iyy="6.01449052592349e-07" iyz="9.341938224099394e-11"
+        izz="5.304297061779193e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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="3.14 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_f_link1_2_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint1_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link1_2" />
+    <child link="l_f_link1_2_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link2_1">
+    <inertial>
+      <origin xyz="0.008006862264851176 1.8338547498861026e-05 -0.0015842278483306311" rpy="0 0 0" />
+      <mass value="0.0035185790405732886" />
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+        iyy="3.7198481294084705e-07" iyz="-1.596272919287658e-10" izz="2.98005291680277e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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/l_f_link2_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint2_1" type="revolute">
+    <origin xyz="-0.034912 -0.005466 0.3287" rpy="-1.5708 -1.5708 3.1416" />
+    <parent link="l_p_link0" />
+    <child link="l_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="0.6" />
+  </joint>
+
+  <link name="l_f_link2_2">
+    <inertial>
+      <origin xyz="0.0214446795509066 -0.00046289490893132847 -0.000478692708976815" rpy="0 0 0" />
+      <mass value="0.004989367448655121" />
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+        iyy="1.055201474830906e-06" iyz="-9.019287841410613e-10" izz="1.0401625323233744e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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/l_f_link2_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint2_2" type="revolute">
+    <origin xyz="0.017 0 0" rpy="1.5708 0 0" />
+    <parent link="l_f_link2_1" />
+    <child link="l_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="0.6" />
+  </joint>
+
+  <link name="l_f_link2_3">
+    <inertial>
+      <origin xyz="0.013280328692676044 -0.0006199315921701265 -1.7863321659867604e-05" rpy="0 0 0" />
+      <mass value="0.003320332898413456" />
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+  <link name="l_f_link2_4">
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+  <joint name="l_f_joint2_4" type="revolute">
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+  <link name="l_f_link2_4_2">
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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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+  <joint name="l_f_joint3_3" type="revolute">
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+  <link name="l_f_link3_2_2">
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+  <joint name="l_f_joint4_3" type="revolute">
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+        <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.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5_3" type="revolute">
+    <origin xyz="0.043 0 0" rpy="0 0 0" />
+    <parent link="l_f_link5_2" />
+    <child link="l_f_link5_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_link5_4">
+    <inertial>
+      <origin xyz="0.016835724192886106 -0.002545133906660096 -2.3758074399037555e-06" rpy="0 0 0" />
+      <mass value="0.00435295285508909" />
+      <inertia ixx="1.7269823605463742e-07" ixy="7.185121819677348e-08" ixz="1.0129642341729513e-10"
+        iyy="5.470938167123792e-07" iyz="-4.584115393699965e-11" izz="5.330028980408515e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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/l_f_link5_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5_4" type="revolute">
+    <origin xyz="0.025 0 0" rpy="0 0 0" />
+    <parent link="l_f_link5_3" />
+    <child link="l_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="0.6" />
+  </joint>
+
+  <link name="l_f_link5_4_1">
+    <inertial>
+      <origin xyz="0.009738422454345728 0.005930029867607994 5.184464520486871e-07" rpy="0 0 0" />
+      <mass value="0.0003894330192680038" />
+      <inertia ixx="1.1761888706684732e-08" ixy="-1.9209378388773822e-10"
+        ixz="1.186284566958111e-12" iyy="1.3432121470991997e-08" iyz="1.5284533404350157e-13"
+        izz="3.328060570965626e-09" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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/l_f_link5_4_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="l_f_joint5_4_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="l_f_link5_4" />
+    <child link="l_f_link5_4_1" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="l_f_link5_4_2">
+    <inertial>
+      <origin xyz="0.015433183879573296 -0.006148726613435893 1.6634833667932593e-06" rpy="0 0 0" />
+      <mass value="0.0019468121678303657" />
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+        izz="2.8666011869658974e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/l_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/l_f_link5_4_2.STL" />
+      </geometry>
+    </collision>
+  </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" />
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+        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" />
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+        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" />
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+        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" />
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+        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" />
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+    </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">
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+      <origin xyz="-0.02488492263507479 -0.007868276064529948 0.02307958050328564" rpy="0 0 0" />
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+        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" />
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+        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" />
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+    </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">
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+      <origin xyz="-0.022805157908453312 -0.0024278245134679364 -0.04288462820007344" rpy="0 0 0" />
+      <mass value="0.022514206360667064" />
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+    </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">
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+    </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" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
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+      <material name="">
+        <color rgba="1 0 0 1" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
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+    </collision>
+  </link>
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+  <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" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
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+      <material name="">
+        <color rgba="1 0 0 1" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.002" />
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+    </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" />
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+    <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" />
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+    </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>
diff --git a/Robots_p/jaka_zu7+dexhand021/urdf/Multi_jaka_zu7.urdf b/Robots_p/jaka_zu7+dexhand021/urdf/Multi_jaka_zu7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a128a2c53d5e98c64a289280075ef3abfd39b1a
--- /dev/null
+++ b/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>    
+
diff --git a/Robots_p/jaka_zu7+dexhand021/urdf/Multi_jaka_zu7_dexhand021_with_flange_with_flange.urdf b/Robots_p/jaka_zu7+dexhand021/urdf/Multi_jaka_zu7_dexhand021_with_flange_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..84019d2130592cfe3e1cd336b8806deb54fc0483
--- /dev/null
+++ b/Robots_p/jaka_zu7+dexhand021/urdf/Multi_jaka_zu7_dexhand021_with_flange_with_flange.urdf
@@ -0,0 +1,4405 @@
+<?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_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 -1.5707963267948966" />
+        <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" />
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+        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" />
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+        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>
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+  <link name="r_f_link1_2_2">
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+  <joint name="r_f_joint2_4" type="revolute">
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+  <joint name="r_f_joint3_4" type="revolute">
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+    <child link="r_f_link3_4" />
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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_link3_4_1">
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+        izz="3.3280605712688587e-09" />
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+      <geometry>
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+      </geometry>
+      <material name="">
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+        <mesh filename="../meshes/hand/r_f_link3_4_1.STL" />
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+  <joint name="r_f_joint3_4_1" type="fixed">
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+    <parent link="r_f_link3_4" />
+    <child link="r_f_link3_4_1" />
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+  <link name="r_f_link3_4_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>
+        <mesh filename="../meshes/hand/r_f_link3_4_2.STL" />
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+  <joint name="r_f_joint3_4_2" type="fixed">
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+    <parent link="r_f_link3_4" />
+    <child link="r_f_link3_4_2" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link3_3_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_joint3_3_1" type="fixed">
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+    <parent link="r_f_link3_3" />
+    <child link="r_f_link3_3_1" />
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+  <link name="r_f_link3_3_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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+  <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" />
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+  <link name="r_f_link3_2_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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+  <joint name="r_f_link3_2_1" type="fixed">
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+    <parent link="r_f_link3_2" />
+    <child link="r_f_link3_2_1" />
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+  <link name="r_f_link3_2_2">
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+      <geometry>
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+  <joint name="r_f_joint3_2_2" type="fixed">
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+    <child link="r_f_link3_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_1" type="revolute">
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+    <parent link="r_p_link0" />
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+    <joint_properties damping="0.3" friction="0.5" />
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+  <joint name="r_f_joint4_2" type="revolute">
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+  <link name="r_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="r_f_joint4_3" type="revolute">
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+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link4_4">
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+      <geometry>
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+  <joint name="r_f_joint4_4" type="revolute">
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+    <parent link="r_f_link4_3" />
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+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link4_4_1">
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+  <joint name="r_f_joint4_4_1" type="fixed">
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+  <link name="r_f_link4_4_2">
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+  <joint name="r_f_joint4_4_2" type="fixed">
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+  <link name="r_f_link4_3_2">
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+  <joint name="r_f_joint4_3_2" type="fixed">
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+  <link name="r_f_link4_3_1">
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+  <joint name="r_f_joint4_3_1" type="fixed">
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+    <parent link="r_f_link4_3" />
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+  <link name="r_f_link4_2_1">
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+  <joint name="r_f_joint4_2_1" type="fixed">
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+    <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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+      <mass value="0.002679962972544183" />
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+        ixz="1.3825483861862083e-10" iyy="6.713031343787191e-07" iyz="6.228665402431011e-11"
+        izz="5.922202883501009e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_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_link4_2_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <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" />
+  </joint>
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+  <link name="r_f_link5_1">
+    <inertial>
+      <origin xyz="0.008006862311856088 1.833886057228032e-05 -0.0015842278080930164" rpy="0 0 0" />
+      <mass value="0.003518579086791241" />
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+        iyy="3.7198481717439967e-07" iyz="-1.5962544309106417e-10" izz="2.9800529687294685e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_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_link5_1.STL" />
+      </geometry>
+    </collision>
+  </link>
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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" />
+    <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>
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+  <link name="r_f_link5_2">
+    <inertial>
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+      <mass value="0.004989367448655121" />
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+        iyy="1.0552014748309056e-06" iyz="-9.019287841410571e-10" izz="1.0401625323233744e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_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_link5_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="r_f_joint5_2" type="revolute">
+    <origin xyz="0.017 0 0" rpy="1.5708 0 0" />
+    <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" />
+  </joint>
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+  <link name="r_f_link5_3">
+    <inertial>
+      <origin xyz="0.013280328692676044 -0.0006199315921701265 -1.7863321659867563e-05" rpy="0 0 0" />
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+        iyy="3.07789315922064e-07" iyz="-8.8279642739463e-11" izz="3.2064040293000583e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_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_link5_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <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" />
+    <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_link5_4">
+    <inertial>
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+    </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>
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+  </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>
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+  <link name="r_f_link5_4_1">
+    <inertial>
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+        izz="3.3280605709656387e-09" />
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+    <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" />
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+  </link>
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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" />
+  </joint>
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+  <link name="r_f_link5_4_2">
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+    <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>
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+  </link>
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+  <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>
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+  <link name="r_f_link5_3_1">
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+    <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" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3_1.STL" />
+      </geometry>
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+  </link>
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+  <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" />
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+  <link name="r_f_link5_3_2">
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+    <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" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3_2.STL" />
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+  <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" />
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+  <link name="r_f_link5_2_1">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2_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_link5_2_1.STL" />
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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">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2_2.STL" />
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_2_2.STL" />
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+  <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" />
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link1.STL" />
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+      <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_p_link1.STL" />
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+  <joint name="r_f_joint1" type="fixed">
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+    <parent link="r_p_link0" />
+    <child link="r_p_link1" />
+    <axis xyz="0 0 0" />
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+  <link name="r_p_link3">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link3.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/r_p_link3.STL" />
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+  <joint name="r_f_joint3" type="fixed">
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+    <parent link="r_p_link0" />
+    <child link="r_p_link3" />
+    <axis xyz="0 0 0" />
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+  <link name="r_p_link4">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link4.STL" />
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+    <collision>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link4.STL" />
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+  <joint name="r_f_joint4" type="fixed">
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+    <parent link="r_p_link0" />
+    <child link="r_p_link4" />
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+  <link name="r_p_link5">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_p_link5.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/r_p_link5.STL" />
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+  <joint name="r_f_joint5" type="fixed">
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+    <parent link="r_p_link0" />
+    <child link="r_p_link5" />
+    <axis xyz="0 0 0" />
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+  <link name="r_p_link6">
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+    </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>
+
+
+
+
+
+
+
+
+
+
+    <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 1.5707963267948966" />
+        <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>
+
+    <joint name="l_Link_6_to_l_p_link0" type="fixed">
+      <origin xyz="0 0 -0.0495" rpy="0 0 0.07"/>
+      <parent link="l_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>
+
+  <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>
+      <origin xyz="0.013223206653742587 0.0007239105528827508 -0.0012977744957348464" rpy="0 0 0" />
+      <mass value="0.003510129470235022" />
+      <inertia ixx="1.0264326739891652e-07" ixy="-1.0034384004261486e-08"
+        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>
+
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+    <child link="l_f_link1_3" />
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+    <joint_properties damping="0.3" friction="0.6" />
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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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+  <joint name="l_f_joint1_4_1" type="fixed">
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+    <child link="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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+    <child link="l_f_link1_4_2" />
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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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+    <parent link="l_f_link1_3" />
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+  <link name="l_f_link1_2_2">
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+  <joint name="l_f_joint2_1" type="revolute">
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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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+  <link name="l_f_link2_4">
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+  <joint name="l_f_joint2_4" type="revolute">
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+    <child link="l_f_link2_3_2" />
+    <axis xyz="0 0 0" />
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+  <link name="l_f_link2_2_1">
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+      <geometry>
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+      </geometry>
+      <material name="">
+        <color rgba="0.3 0.3 0.3 1" />
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+  <joint name="l_f_joint2_2_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+    <child link="l_f_link2_2_1" />
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+  <link name="l_f_link2_2_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_joint2_2_2" type="fixed">
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+    <parent link="l_f_link2_2" />
+    <child link="l_f_link2_2_2" />
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+  <link name="l_f_link3_1">
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+      <geometry>
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+      <geometry>
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+  <joint name="l_f_joint3_1" type="revolute">
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+  <link name="l_f_link3_2">
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+      <geometry>
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+      <geometry>
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+  <joint name="l_f_joint3_2" type="revolute">
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+    <parent link="l_f_link3_1" />
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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_link3_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_joint3_3" type="revolute">
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+    <parent link="l_f_link3_2" />
+    <child link="l_f_link3_3" />
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+  <link name="l_f_link3_4">
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  <joint name="l_f_joint3_4" type="revolute">
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+    <parent link="l_f_link3_3" />
+    <child link="l_f_link3_4" />
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+  <link name="l_f_link3_4_1">
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+      <geometry>
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+      <material name="">
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+  <joint name="l_f_joint3_4_1" type="fixed">
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+    <child link="l_f_link3_4_1" />
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+  <link name="l_f_link3_4_2">
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+      <material name="">
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+  <joint name="l_f_joint3_4_2" type="fixed">
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+  <link name="l_f_link3_3_1">
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+  <joint name="l_f_joint3_3_1" type="fixed">
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+  <link name="l_f_link3_3_2">
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+      <material name="">
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+  <joint name="l_f_joint3_3_2" type="fixed">
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+    <parent link="l_f_link3_3" />
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+  <link name="l_f_link3_2_1">
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+  <joint name="l_f_joint3_2_1" type="fixed">
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+  <link name="l_f_link3_2_2">
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+  <joint name="l_f_joint3_2_2" type="fixed">
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+  <joint name="l_f_joint4_2" type="revolute">
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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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+      <material name="">
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+      </material>
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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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+      <geometry>
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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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+      <geometry>
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+      <material name="">
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+  <joint name="l_f_joint4_4_2" type="fixed">
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+    <child link="l_f_link4_4_2" />
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+  <link name="l_f_link4_3_1">
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+      <material name="">
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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" />
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+  <link name="l_f_link4_3_2">
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+      <material name="">
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+  <joint name="l_f_joint4_3_2" type="fixed">
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+    <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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+  <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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+  <joint name="l_f_joint4_2_2" type="fixed">
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+  <link name="l_f_link5_1">
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+      <geometry>
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+  <joint name="l_f_joint5_1" type="revolute">
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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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+  <joint name="l_f_joint5_3" type="revolute">
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+  <link name="l_f_link5_4">
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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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+  <link name="l_f_link5_3_1">
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+  <joint name="l_f_joint5_3_1" type="fixed">
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+  <joint name="l_f_joint5_3_2" type="fixed">
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+    <parent link="l_f_link5_3" />
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+
+  <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>    
+
diff --git a/Robots_p/jaka_zu7+dexhand021/urdf/Right_Hand.urdf b/Robots_p/jaka_zu7+dexhand021/urdf/Right_Hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ed9a72d6436dae3390ac36786d81767073e231fd
--- /dev/null
+++ b/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" />
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+  <joint name="r_f_joint1_3" type="revolute">
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+    <parent link="r_f_link1_2" />
+    <child link="r_f_link1_3" />
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+    <joint_properties damping="0.3" friction="0.5" effort="10" velocity="1.5" />
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+  <link name="r_f_link1_4">
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+      <geometry>
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+      </geometry>
+      <material name="">
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+    </visual>
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+      <geometry>
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+  <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" />
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+    <joint_properties damping="0.3" friction="0.5" effort="10" velocity="1.5" />
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+  <link name="r_f_link1_4_1">
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+      <geometry>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link1_4" />
+    <child link="r_f_link1_4_1" />
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+  <link name="r_f_link1_4_2">
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+      <geometry>
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+      <material name="">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_4_2.STL" />
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+  <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" />
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+  <link name="r_f_link1_3_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_joint1_3_1" type="fixed">
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+    <parent link="r_f_link1_3" />
+    <child link="r_f_link1_3_1" />
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link1_3_2.STL" />
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+      <material name="">
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+      <geometry>
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+  <joint name="r_f_joint1_3_2" type="fixed">
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+    <parent link="r_f_link1_3" />
+    <child link="r_f_link1_3_2" />
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+  <link name="r_f_link1_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_joint1_2_1" type="fixed">
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+    <parent link="r_f_link1_2" />
+    <child link="r_f_link1_2_1" />
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+  <link name="r_f_link1_2_2">
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+      <geometry>
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+    <child link="r_f_link1_2_2" />
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+      <geometry>
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+      <material name="">
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+  <joint name="r_f_joint2_1" type="revolute">
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+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link2_2">
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+  <joint name="r_f_joint2_2" type="revolute">
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+    <parent link="r_f_link2_1" />
+    <child link="r_f_link2_2" />
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+  <link name="r_f_link2_3">
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+      <geometry>
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+  <joint name="r_f_joint2_3" type="revolute">
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+  <link name="r_f_link2_4">
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+      <geometry>
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+  <joint name="r_f_joint2_4" type="revolute">
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+  <link name="r_f_link2_4_1">
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+  <joint name="r_f_joint2_4_1" type="fixed">
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+  <link name="r_f_link2_4_2">
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+  <link name="r_f_link2_3_1">
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+    <parent link="r_f_link2_3" />
+    <child link="r_f_link2_3_2" />
+    <axis xyz="0 0 0" />
+  </joint>
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+  <link name="r_f_link2_2_1">
+    <inertial>
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+        iyy="6.511791793415128e-08" iyz="-3.0048267713603094e-14" izz="4.166928950157199e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_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_link2_2_1.STL" />
+      </geometry>
+    </collision>
+  </link>
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+  <joint name="r_f_joint2_2_1" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link2_2" />
+    <child link="r_f_link2_2_1" />
+    <axis xyz="0 0 0" />
+  </joint>
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+  <link name="r_f_link2_2_2">
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link2_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_link2_2_2.STL" />
+      </geometry>
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+  </link>
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+  <joint name="r_f_joint2_2_2" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link2_2" />
+    <child link="r_f_link2_2_2" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="r_f_link3_1">
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+        iyy="3.719848171743812e-07" iyz="-1.5962544309061537e-10" izz="2.9800529687292726e-07" />
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_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_link3_1.STL" />
+      </geometry>
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+  <joint name="r_f_joint3_1" type="revolute">
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+    <parent link="r_p_link0" />
+    <child link="r_f_link3_1" />
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+  <link name="r_f_link3_2">
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_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_link3_2.STL" />
+      </geometry>
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+  </link>
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+  <joint name="r_f_joint3_2" type="revolute">
+    <origin xyz="0.017 0 0" rpy="1.5708 0 0" />
+    <parent link="r_f_link3_1" />
+    <child link="r_f_link3_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_link3_3">
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_3.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/r_f_link3_3.STL" />
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+  <joint name="r_f_joint3_3" type="revolute">
+    <origin xyz="0.043 0 0" rpy="0 0 0" />
+    <parent link="r_f_link3_2" />
+    <child link="r_f_link3_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_link3_4">
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+    <visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_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/r_f_link3_4.STL" />
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+  <joint name="r_f_joint3_4" type="revolute">
+    <origin xyz="0.025 0 0" rpy="0 0 0" />
+    <parent link="r_f_link3_3" />
+    <child link="r_f_link3_4" />
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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_link3_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_joint3_4_1" type="fixed">
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+    <parent link="r_f_link3_4" />
+    <child link="r_f_link3_4_1" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link3_4_2">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_4_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/r_f_link3_4_2.STL" />
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+  <joint name="r_f_joint3_4_2" type="fixed">
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+    <parent link="r_f_link3_4" />
+    <child link="r_f_link3_4_2" />
+    <axis xyz="0 0 0" />
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+  <link name="r_f_link3_3_1">
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+      <geometry>
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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+  <joint name="r_f_joint3_3_1" type="fixed">
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+    <parent link="r_f_link3_3" />
+    <child link="r_f_link3_3_1" />
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+  <link name="r_f_link3_3_2">
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+      <geometry>
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+      <material name="">
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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" />
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+  <link name="r_f_link3_2_1">
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+      <material name="">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_2_1.STL" />
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+  <joint name="r_f_link3_2_1" type="fixed">
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+    <parent link="r_f_link3_2" />
+    <child link="r_f_link3_2_1" />
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+  <link name="r_f_link3_2_2">
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+      <geometry>
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+      <material name="">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_2_2.STL" />
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+  <joint name="r_f_joint3_2_2" type="fixed">
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+  <link name="r_f_link4_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_joint4_1" type="revolute">
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+      <material name="">
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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" />
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+    <joint_properties damping="0.3" friction="0.5" />
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+  <link name="r_f_link4_3">
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+      <geometry>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_3.STL" />
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+  <joint name="r_f_joint4_3" type="revolute">
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+    <parent link="r_f_link4_2" />
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+    <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="">
+        <color rgba="0.3 0.3 0.3 1" />
+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_4.STL" />
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+  </link>
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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" />
+  </joint>
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+  <link name="r_f_link4_4_1">
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+        izz="3.328060571257918e-09" />
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+      <geometry>
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+      </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_link4_4_1.STL" />
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+  <joint name="r_f_joint4_4_1" type="fixed">
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+    <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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+    <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" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_4_2.STL" />
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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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+    <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" />
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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_3_2.STL" />
+      </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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+        izz="4.935996044555075e-09" />
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <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">
+    <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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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link4_2_1.STL" />
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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_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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+      <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">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="r_f_link4_2" />
+    <child link="r_f_link4_2_2" />
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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>
+        <mesh filename="../meshes/hand/r_f_link5_1.STL" />
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+  <joint name="r_f_joint5_1" type="revolute">
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+    <parent link="r_p_link0" />
+    <child link="r_f_link5_1" />
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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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+      <geometry>
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+      <material name="">
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+      <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" />
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+  <link name="r_f_link5_3">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_3.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/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" />
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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>
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+      <material name="">
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+      <geometry>
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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" />
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+    <limit lower="0" upper="1.3" effort="10" velocity="1.5" />
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+  <link name="r_f_link5_4_1">
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+  <joint name="r_f_joint5_4_1" type="fixed">
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+    <parent link="r_f_link5_4" />
+    <child link="r_f_link5_4_1" />
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+  <link name="r_f_link5_4_2">
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+  <joint name="r_f_joint5_4_2" type="fixed">
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+    <parent link="r_f_link5_4" />
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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" />
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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">
+    <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" />
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+  <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>
diff --git a/Robots_p/jaka_zu7+dexhand021/urdf/Right_jaka_zu7_dexhand021_with_flange_with_flange.urdf b/Robots_p/jaka_zu7+dexhand021/urdf/Right_jaka_zu7_dexhand021_with_flange_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..96ad8ac6f00945a6380f25a315d4006edb22c3e1
--- /dev/null
+++ b/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>
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+  <joint name="r_f_joint3_3_1" type="fixed">
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+  <link name="r_f_link3_3_2">
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+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link3_3_2.STL" />
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+      <material name="">
+        <color rgba="0.9 0.9 0.9 1" />
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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" />
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+  <link name="r_f_link3_2_1">
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+      <material name="">
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+  <link name="r_f_link3_2_2">
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+      <geometry>
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+  <joint name="r_f_joint3_2_2" type="fixed">
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+    <parent link="r_f_link3_2" />
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+  <link name="r_f_link4_1">
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+      <geometry>
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+      <material name="">
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+  <joint name="r_f_joint4_1" type="revolute">
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+  <link name="r_f_link4_2">
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+      <geometry>
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+  <joint name="r_f_joint4_2" type="revolute">
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+  <link name="r_f_link4_3">
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+      <geometry>
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+  <joint name="r_f_joint4_3" type="revolute">
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+    <parent link="r_f_link4_2" />
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+  <link name="r_f_link4_4">
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+      <geometry>
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+      <material name="">
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+  <joint name="r_f_joint4_4" type="revolute">
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+    <child link="r_f_link4_4" />
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+  <joint name="r_f_joint4_4_1" type="fixed">
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+    <parent link="r_f_link4_4" />
+    <child link="r_f_link4_4_1" />
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+  <link name="r_f_link4_4_2">
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+  <joint name="r_f_joint4_4_2" type="fixed">
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+  <link name="r_f_link4_3_2">
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+  <joint name="r_f_joint4_3_2" type="fixed">
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+  <link name="r_f_link4_3_1">
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+  <link name="r_f_link4_2_1">
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+  <joint name="r_f_joint5_2" type="revolute">
+    <origin xyz="0.017 0 0" rpy="1.5708 0 0" />
+    <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" />
+  </joint>
+
+  <link name="r_f_link5_3">
+    <inertial>
+      <origin xyz="0.013280328692676044 -0.0006199315921701265 -1.7863321659867563e-05" rpy="0 0 0" />
+      <mass value="0.003320332898413456" />
+      <inertia ixx="9.569221204956008e-08" ixy="1.0826362598447572e-08" ixz="-1.618171363270022e-09"
+        iyy="3.07789315922064e-07" iyz="-8.8279642739463e-11" izz="3.2064040293000583e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hand/r_f_link5_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_link5_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <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" />
+    <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">
+    <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" />
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+        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" />
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+        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" />
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+        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" />
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+        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" />
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+        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" />
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+        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>    
+
diff --git a/Robots_p/ur5+RH56DFX/meshes/hand_left/left_index_pad.STL b/Robots_p/ur5+RH56DFX/meshes/hand_left/left_index_pad.STL
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diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/collision/left_thumb_1.STL b/Robots_p/ur5+RH56DFX/meshes/ur5/collision/left_thumb_1.STL
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diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/collision/wrist1.stl b/Robots_p/ur5+RH56DFX/meshes/ur5/collision/wrist1.stl
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diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/collision/wrist3.stl b/Robots_p/ur5+RH56DFX/meshes/ur5/collision/wrist3.stl
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diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/visual/base.dae b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/base.dae
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index 0000000000000000000000000000000000000000..81610ed617fdc177dacc7eb00341071b14e01cae
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/base.dae
@@ -0,0 +1,233 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:41:01</created>
+    <modified>2018-07-11T13:41:01</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Rohr-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.5248 0.5248 0.5248 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.125 0.125 0.125 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Scheibe-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.064 0.064 0.064 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.125 0.125 0.125 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
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1446 914 552 922 880 923 880 923 552 922 553 924 880 923 553 924 876 883 876 883 553 924 554 925 876 926 554 926 555 926 515 881 516 927 1298 876 1298 876 516 927 517 928 1298 876 517 928 1317 929 1317 929 517 928 518 930 1317 931 518 931 519 931 519 932 1408 932 1317 932 1317 929 1408 933 521 934 1317 929 521 934 1459 935 1459 935 1488 936 1317 929 1317 929 1488 936 1339 937 1317 929 1339 937 525 938 525 938 526 939 1317 929 1317 929 526 939 1282 940 1317 929 1282 940 441 941 1282 940 528 942 441 941 441 941 528 942 529 943 441 941 529 943 530 944 530 944 531 945 441 941 441 941 531 945 532 946 441 941 532 946 533 947 533 947 534 948 441 941 441 941 534 948 535 949 441 941 535 949 536 950 536 951 537 951 441 951 441 952 537 952 538 952 441 941 538 953 1335 910 1335 910 538 953 1193 954 1335 910 1193 954 540 908 486 955 1265 346 1724 956 1724 956 1676 957 486 955 486 955 1676 957 1436 958 486 955 1436 958 474 959 1436 958 884 960 474 959 474 959 884 960 885 961 474 959 885 961 462 962 885 961 886 962 462 962 462 962 886 962 1375 830 462 962 1375 830 1588 830 1588 830 1375 830 1376 963 1588 830 1376 963 458 963 458 963 1376 963 889 964 458 963 889 964 464 965 889 964 1280 965 464 965 464 965 1280 965 891 966 464 965 891 966 468 967 468 967 891 966 892 968 468 967 892 968 1187 307 1187 307 892 968 893 969 1032 970 436 285 1447 971 1447 971 1827 972 1032 970 1032 970 1827 972 896 973 1032 970 896 973 705 974 896 973 897 974 705 974 705 974 897 974 1058 975 705 974 1058 975 1549 975 1549 975 1058 975 1033 169 1549 975 1033 169 699 169 699 169 1033 169 1034 976 699 169 1034 976 703 976 703 976 1034 976 1196 977 703 976 1196 977 722 978 722 979 1196 979 968 979 722 978 968 980 969 981 1854 982 691 655 969 981 969 981 691 655 725 983 969 981 725 983 722 978 667 984 666 636 994 985 994 985 995 986 667 984 667 984 995 986 1503 987 667 984 1503 987 653 988 1503 987 1015 988 653 988 653 988 1015 988 1016 989 653 988 1016 989 643 990 643 990 1016 989 1083 864 643 990 1083 864 645 864 645 864 1083 864 1124 991 645 864 1124 991 641 991 641 991 1124 991 1100 992 641 991 1100 992 672 993 672 993 1100 992 1101 994 672 993 1101 994 1172 995 1170 996 634 600 1172 995 1172 995 634 600 673 997 1172 995 673 997 672 993 610 998 1427 581 1197 999 1197 999 917 1000 610 998 610 998 917 1000 918 1001 610 998 918 1001 600 1002 918 1003 919 1003 600 1003 600 1002 919 1004 920 1005 600 1002 920 1005 1424 1006 920 1005 1783 1006 1424 1006 1424 1006 1783 1006 1759 164 1424 1006 1759 164 583 164 583 164 1759 164 1752 1007 583 164 1752 1007 585 1007 585 1007 1752 1007 1352 1008 585 1007 1352 1008 1396 1009 1352 1008 925 1009 1396 1009 1396 1009 925 1009 926 1010 1396 1009 926 1010 596 1011 596 1011 926 1010 927 1012 596 1011 927 1012 1722 367 1722 367 927 1012 1370 1013 436 285 1540 867 1447 971 1447 971 1540 867 1335 910 1447 971 1335 910 1446 914 1446 914 1335 910 545 917 1446 914 545 917 546 912 1667 874 1298 876 1250 869 1250 869 1298 876 438 1014 1250 869 438 1014 893 969 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1027 942 1027 682 1027 943 92 943 92 682 1027 683 1028 943 92 683 1028 944 1028 944 1028 683 1028 945 1029 945 1029 683 1028 1860 1030 945 1029 1860 1030 946 1030 946 1030 1860 1030 1840 1031 946 1030 1840 1031 1854 982 1854 982 1840 1031 1658 656 1854 982 1658 656 691 655 1469 34 1470 34 947 34 840 1032 841 1032 948 1032 948 1033 841 1033 842 1033 1842 34 835 34 949 34 842 1034 843 1034 948 1034 948 34 843 34 844 34 948 1035 844 1035 845 1035 949 1036 838 1036 839 1036 835 1037 836 1037 949 1037 949 1038 836 1038 837 1038 949 1039 837 1039 838 1039 848 1040 898 1040 847 1040 847 1041 898 1041 1863 1041 847 34 1863 34 846 34 846 1042 1863 1042 1862 1042 846 34 1862 34 845 34 848 1043 849 1043 898 1043 898 1044 849 1044 850 1044 898 1045 850 1045 899 1045 899 1046 850 1046 827 1046 830 34 900 34 829 34 829 1047 900 1047 899 1047 829 34 899 34 828 34 828 1048 899 1048 827 1048 833 34 901 34 832 34 832 34 901 34 900 34 832 34 900 34 831 34 831 34 900 34 830 34 1730 34 904 34 949 34 949 1049 904 1049 903 1049 833 34 1842 34 901 34 901 34 1842 34 949 34 901 34 949 34 902 34 902 1050 949 1050 903 1050 731 34 730 34 950 34 1730 34 949 34 1729 34 1729 34 949 34 1243 34 1729 34 1243 34 1303 34 750 34 749 34 951 34 951 1051 749 1051 748 1051 951 1052 748 1052 747 1052 730 34 729 34 950 34 950 1053 729 1053 728 1053 950 1054 728 1054 727 1054 747 1055 746 1055 951 1055 951 1056 746 1056 745 1056 951 34 745 34 949 34 949 1057 745 1057 744 1057 744 1058 743 1058 949 1058 949 1059 743 1059 742 1059 949 1060 742 1060 741 1060 741 34 1264 34 949 34 949 1061 1264 1061 1244 1061 949 1062 1244 1062 1243 1062 1303 34 1476 34 1729 34 1729 34 1476 34 1425 34 1729 34 1425 34 1701 34 1701 1063 1425 1063 734 1063 1701 1064 734 1064 1687 1064 1687 1065 734 1065 733 1065 1687 1066 733 1066 732 1066 907 34 906 34 950 34 950 1067 906 1067 905 1067 950 1068 905 1068 941 1068 732 34 731 34 1687 34 1687 34 731 34 950 34 1687 34 950 34 1670 34 1670 34 950 34 941 34 855 34 856 34 909 34 864 1069 1462 1069 952 1069 860 34 911 34 859 34 859 1070 911 1070 910 1070 859 1071 910 1071 858 1071 1462 1072 1410 1072 952 1072 952 34 1410 34 867 34 952 1073 867 1073 868 1073 909 1074 856 1074 910 1074 910 1075 856 1075 857 1075 910 1076 857 1076 858 1076 860 34 861 34 911 34 911 1077 861 1077 862 1077 911 34 862 34 912 34 912 1078 862 1078 863 1078 872 34 873 34 950 34 868 34 869 34 952 34 952 34 869 34 870 34 952 34 870 34 950 34 950 1079 870 1079 871 1079 950 1080 871 1080 872 1080 873 34 874 34 950 34 950 1081 874 1081 851 1081 950 34 851 34 907 34 907 1082 851 1082 852 1082 907 1083 852 1083 908 1083 908 1084 852 1084 853 1084 908 1085 853 1085 909 1085 909 34 853 34 854 34 909 1086 854 1086 855 1086 936 34 937 34 953 34 953 1087 937 1087 938 1087 953 1088 938 1088 952 1088 952 34 938 34 1889 34 1889 34 940 34 952 34 952 1089 940 1089 915 1089 952 1090 915 1090 914 1090 863 1091 864 1091 912 1091 912 1092 864 1092 952 1092 912 1093 952 1093 913 1093 913 34 952 34 914 34 954 1094 1798 1094 1808 1094 1808 1095 1892 1095 954 1095 954 1096 1892 1096 916 1096 954 1097 916 1097 935 1097 793 34 794 34 924 34 779 1098 780 1098 954 1098 780 1099 781 1099 954 1099 954 1100 781 1100 782 1100 954 1101 782 1101 783 1101 783 1102 784 1102 954 1102 954 34 784 34 785 34 954 1103 785 1103 1798 1103 789 34 790 34 1782 34 1782 1104 790 1104 791 1104 1782 1105 791 1105 792 1105 1291 34 1323 34 955 34 955 1106 1323 1106 802 1106 785 34 786 34 1798 34 1798 1107 786 1107 1027 1107 1798 1108 1027 1108 1782 1108 1782 1109 1027 1109 788 1109 1782 1110 788 1110 789 1110 794 34 795 34 924 34 924 1111 795 1111 796 1111 924 1112 796 1112 1353 1112 1353 1113 796 1113 1345 1113 1353 34 1345 34 1404 34 1404 1114 1345 1114 1304 1114 1404 34 1304 34 955 34 955 34 1304 34 1290 34 955 1115 1290 1115 1291 1115 922 34 921 34 923 34 923 1116 921 1116 1782 1116 923 34 1782 34 924 34 924 34 1782 34 792 34 924 1117 792 1117 793 1117 955 1118 933 1118 934 1118 934 34 928 34 955 34 955 1119 928 1119 1431 1119 955 1120 1431 1120 1404 1120 1470 1121 773 1121 774 1121 768 34 1780 34 1577 34 1577 1122 1780 1122 1813 1122 1577 1123 1813 1123 1615 1123 1615 34 1813 34 1837 34 1615 1124 1837 1124 1470 1124 1470 34 1837 34 772 34 1470 34 772 34 773 34 753 34 754 34 947 34 955 1125 1688 1125 1689 1125 753 34 947 34 1713 34 755 34 756 34 956 34 956 1126 756 1126 757 1126 956 1127 757 1127 758 1127 758 34 759 34 956 34 956 34 759 34 1638 34 956 34 1638 34 955 34 955 1128 1638 1128 1655 1128 955 1129 1655 1129 1688 1129 933 1130 955 1130 1577 1130 1577 34 955 34 766 34 1577 1131 766 1131 768 1131 774 34 775 34 1470 34 1470 1132 775 1132 776 1132 1470 34 776 34 947 34 947 1133 776 1133 777 1133 947 1134 777 1134 778 1134 1689 34 1684 34 955 34 955 34 1684 34 1685 34 955 1135 1685 1135 766 1135 778 34 1277 34 947 34 947 34 1277 34 752 34 947 1136 752 1136 1713 1136 883 1137 882 1137 947 1137 947 34 882 34 881 34 947 34 881 34 1469 34 818 34 1454 34 817 34 817 34 1454 34 1437 34 817 34 1437 34 816 34 818 34 819 34 1454 34 1454 1138 819 1138 1440 1138 1454 1139 1440 1139 1441 1139 823 1140 1380 1140 1336 1140 823 1141 1336 1141 822 1141 883 34 947 34 1437 34 1437 34 947 34 815 34 1437 1142 815 1142 816 1142 812 34 813 34 947 34 947 1143 813 1143 814 1143 947 34 814 34 815 34 808 34 957 34 807 34 807 34 957 34 806 34 1380 34 1381 34 1336 34 1336 1144 1381 1144 1725 1144 1336 34 1725 34 890 34 890 1145 1725 1145 803 1145 890 34 803 34 1281 34 1281 1146 803 1146 804 1146 1281 1147 804 1147 957 1147 957 1148 804 1148 805 1148 957 1149 805 1149 806 1149 808 34 809 34 957 34 957 1150 809 1150 810 1150 957 34 810 34 947 34 947 34 810 34 811 34 947 1151 811 1151 812 1151 1336 1152 888 1152 887 1152 1441 34 822 34 1454 34 1454 34 822 34 1336 34 1454 1153 1336 1153 1487 1153 1487 1154 1336 1154 887 1154 877 1155 878 1155 957 1155 957 1156 878 1156 875 1156 875 1157 1251 1157 957 1157 957 34 1251 34 1795 34 957 1158 1795 1158 1281 1158 1568 1159 958 1159 1661 1159 1661 1160 958 1160 948 1160 1661 34 948 34 879 34 879 34 948 34 894 34 845 1161 1862 1161 948 1161 948 1162 1862 1162 895 1162 948 34 895 34 894 34 754 1163 755 1163 947 1163 947 1164 755 1164 956 1164 947 1165 956 1165 957 1165 957 1166 956 1166 958 1166 957 34 958 34 877 34 877 1167 958 1167 1568 1167 802 1168 779 1168 955 1168 955 1169 779 1169 954 1169 955 1170 954 1170 956 1170 956 1171 954 1171 959 1171 956 34 959 34 958 34 958 1172 959 1172 951 1172 958 1173 951 1173 948 1173 948 34 951 34 949 34 948 1174 949 1174 840 1174 840 34 949 34 839 34 935 1175 936 1175 954 1175 954 1176 936 1176 953 1176 954 1177 953 1177 959 1177 959 1178 953 1178 952 1178 959 1179 952 1179 951 1179 951 34 952 34 950 34 951 34 950 34 750 34 750 34 950 34 727 34</p>
+        </triangles>
+        <triangles material="Scheibe-material" count="137">
+          <input semantic="VERTEX" source="#ActorShape0_0-Mesh_021-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ActorShape0_0-Mesh_021-mesh-normals" offset="1"/>
+          <p>1180 1180 1053 1180 1054 1180 1094 1181 1095 1181 1271 1181 1271 1182 1095 1182 1041 1182 1021 1183 8 1183 1468 1183 1180 1184 10 1184 1053 1184 1053 1185 10 1185 11 1185 1053 1186 11 1186 12 1186 8 1187 1021 1187 1271 1187 1271 1188 1021 1188 1022 1188 1271 1189 1022 1189 1094 1189 1054 1190 1038 1190 1180 1190 1180 1191 1038 1191 1021 1191 1180 1192 1021 1192 1284 1192 1284 1193 1021 1193 1468 1193 1041 1194 16 1194 1271 1194 1271 1195 16 1195 1812 1195 1271 1196 1812 1196 1504 1196 12 1197 1192 1197 1053 1197 1053 1198 1192 1198 1859 1198 1053 1199 1859 1199 21 1199 21 1200 1859 1200 22 1200 21 1201 22 1201 23 1201 144 1202 145 1203 17 1204 146 1205 9 1206 147 1207 147 1207 9 1206 1272 1208 147 1207 1272 1208 148 1209 148 1209 1272 1208 149 1210 150 1211 5 1212 151 1213 151 1213 5 1212 18 1214 151 1213 18 1214 152 1215 150 1211 153 1216 5 1212 5 1212 153 1216 1640 1217 5 1212 1640 1217 1272 1208 1272 1208 1640 1217 1781 1218 1272 1208 1781 1218 149 1210 156 1219 157 1220 18 1214 18 1214 157 1220 158 1221 18 1222 158 1222 152 1222 17 1204 145 1203 18 1214 18 1214 145 1203 159 1223 18 1214 159 1223 156 1219 160 1224 161 1225 1042 1226 1042 1226 161 1225 162 1227 1042 1226 162 1227 17 1204 17 1204 162 1227 163 1228 17 1204 163 1228 144 1202 164 1229 165 1230 4 1231 4 1231 165 1230 166 1232 4 1231 166 1232 6 1233 6 1234 166 1234 1801 1234 6 1233 1801 1235 1042 1226 1042 1226 1801 1235 1700 1236 1042 1226 1700 1236 160 1224 169 1237 170 1238 3 1239 3 1239 170 1238 171 1240 3 1239 171 1240 4 1231 4 1231 171 1240 172 1241 4 1231 172 1241 164 1229 13 1242 173 1242 174 1242 174 1243 175 1244 13 1245 13 1245 175 1244 176 1246 13 1245 176 1246 3 1239 3 1239 176 1246 177 1247 3 1239 177 1247 169 1237 178 1248 179 1249 7 1250 7 1250 179 1249 180 1251 7 1250 180 1251 13 1245 13 1245 180 1251 181 1252 13 1253 181 1253 173 1253 178 1248 7 1250 182 1254 182 1254 7 1250 14 1255 182 1254 14 1255 183 1256 2 1257 184 1258 185 1259 185 1259 186 1260 2 1257 2 1257 186 1260 187 1261 2 1257 187 1261 14 1255 14 1255 187 1261 188 1262 14 1255 188 1262 183 1256 189 1263 190 1264 1 1265 1 1265 190 1264 191 1266 1 1265 191 1266 2 1257 2 1257 191 1266 192 1267 2 1257 192 1267 184 1258 1841 1268 1423 1269 194 1270 194 1270 1423 1269 1897 1271 1841 1268 1814 1272 1423 1269 1423 1269 1814 1272 1805 1273 1423 1269 1805 1273 1 1265 1 1265 1805 1273 197 1274 1 1265 197 1274 189 1263 198 1275 199 1276 1897 1271 199 1276 200 1277 1897 1271 1897 1278 200 1278 201 1278 1897 1271 201 1279 194 1270 20 1280 202 1281 1896 1282 1896 1282 202 1281 203 1283 203 1283 204 1284 1896 1282 1896 1282 204 1284 205 1285 1896 1282 205 1285 1897 1271 1897 1271 205 1285 206 1286 1897 1271 206 1286 198 1275 207 1287 208 1288 20 1280 208 1288 209 1289 20 1280 20 1280 209 1289 210 1290 20 1280 210 1290 202 1281 207 1287 20 1280 211 1291 211 1291 20 1280 19 1292 211 1291 19 1292 212 1293 212 1293 19 1292 1191 1294 212 1293 1191 1294 213 1295 214 1296 1620 1297 1541 1298 1541 1298 1620 1297 1660 1299 1541 1298 1660 1299 1191 1294 1191 1294 1660 1299 1610 1300 1191 1294 1610 1300 213 1295 1181 1301 1567 1301 1731 1301 1731 1302 1720 1303 1181 1304 1181 1304 1720 1303 1438 1305 1181 1304 1438 1305 1541 1298 1541 1298 1438 1305 1439 1306 1541 1298 1439 1306 214 1296 1525 1307 1526 1308 0 1309 0 1309 1526 1308 1377 1310 0 1309 1377 1310 1181 1304 1181 1304 1377 1310 1378 1311 1181 1312 1378 1312 1567 1312 1525 1307 0 1309 1337 1313 1337 1313 0 1309 15 1314 1337 1313 15 1314 1338 1315 146 1205 1299 1316 9 1206 9 62 1299 62 1239 62 9 1206 1239 1317 231 1318 231 1318 232 1319 9 1206 9 1206 232 1319 233 1320 9 1206 233 1320 15 1314 15 1314 233 1320 234 1321 15 1314 234 1321 1338 1315</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_021-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rohr-material" target="#Rohr-material"/>
+              <instance_material symbol="Scheibe-material" target="#Scheibe-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/visual/forearm.dae b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/forearm.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6c3bb2c6af7a6b32e442ab9e3bfb7496b7265472
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/forearm.dae
@@ -0,0 +1,382 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:48:54</created>
+    <modified>2018-07-11T13:48:54</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ActorShape2_0-Mesh_012-mesh-vertices">
+          <input semantic="POSITION" source="#ActorShape2_0-Mesh_012-mesh-positions"/>
+        </vertices>
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+          <input semantic="NORMAL" source="#ActorShape2_0-Mesh_012-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0_001" name="Actor0_001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_029-mesh" name="Actor0_001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau_005-material" target="#blau_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_021-mesh" name="Actor1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rohr_005-material" target="#Rohr_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor2" name="Actor2" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape2_0-Mesh_012-mesh" name="Actor2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="verbindung_005-material" target="#verbindung_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor3" name="Actor3" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape3_0-Mesh_012-mesh" name="Actor3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="verbindung_005-material" target="#verbindung_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/visual/shoulder.dae b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/shoulder.dae
new file mode 100644
index 0000000000000000000000000000000000000000..0364c829c559be989bac3575979bdfbd1c890867
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/shoulder.dae
@@ -0,0 +1,304 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:44:23</created>
+    <modified>2018-07-11T13:44:23</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="verbindung-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 -1.565e-7 0 0 1 -1.565e-7 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_023-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="verbindung-material" target="#verbindung-material"/>
+              <instance_material symbol="Scheibe-material" target="#Scheibe-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 -1.565e-7 0 0 1 1.565e-7 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_017-mesh" name="Actor1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau-material" target="#blau-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/visual/upperarm.dae b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/upperarm.dae
new file mode 100644
index 0000000000000000000000000000000000000000..867152a356038791e75a19cf1f0b089e7a070d8e
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/upperarm.dae
@@ -0,0 +1,465 @@
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2326 2359 2405 2588 2405 1946 2405 1946 2406 2588 2406 2092 2406 1946 2407 2092 2407 2349 2407 2349 2326 2092 2326 2093 2326 2349 2408 2093 2408 2230 2408 2230 2326 2093 2326 2094 2326 2230 2409 2094 2409 2231 2409 2231 2326 2094 2326 2444 2326 2231 2410 2444 2410 2435 2410 1399 2326 1415 2326 2099 2326 2099 2411 1415 2411 1159 2411 2099 2412 1159 2412 2100 2412 2100 2413 1159 2413 1158 2413 2100 2326 1158 2326 2073 2326 2258 2326 1307 2326 2223 2326 2223 2414 1307 2414 2240 2414 2223 2326 2240 2326 1309 2326</p>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_024-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="verbindung-material" target="#verbindung-material"/>
+              <instance_material symbol="Scheibe-material" target="#Scheibe-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_018-mesh" name="Actor1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau-material" target="#blau-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor2" name="Actor2" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape2_0-Mesh_011-mesh" name="Actor2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="verbindung-material" target="#verbindung-material"/>
+              <instance_material symbol="Scheibe-material" target="#Scheibe-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor3" name="Actor3" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape3_0-Mesh_011-mesh" name="Actor3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rohr-material" target="#Rohr-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor4" name="Actor4" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape4_0-Mesh_004-mesh" name="Actor4">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau-material" target="#blau-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/visual/wrist1.dae b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/wrist1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..547920bc68ad9a625ad772f770d542f44a946f7e
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/wrist1.dae
@@ -0,0 +1,304 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:55:14</created>
+    <modified>2018-07-11T13:55:14</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 0.9999999 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_025-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Scheibe_001-material" target="#Scheibe_001-material"/>
+              <instance_material symbol="verbindung_001-material" target="#verbindung_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 0.9999999 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_019-mesh" name="Actor1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau_001-material" target="#blau_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/visual/wrist2.dae b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/wrist2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6a7719d1d0159b4729af28f01eb9b255bd46e215
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/wrist2.dae
@@ -0,0 +1,304 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:56:40</created>
+    <modified>2018-07-11T13:56:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Scheibe_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.0512 0.0512 0.0512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.0625 0.0625 0.0625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="verbindung_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.14272 0.14272 0.14272 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.0625 0.0625 0.0625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="blau_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.25088 0.34752 0.4096 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.0625 0.0625 0.0625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Scheibe_002-material" name="Scheibe_002">
+      <instance_effect url="#Scheibe_002-effect"/>
+    </material>
+    <material id="verbindung_002-material" name="verbindung_002">
+      <instance_effect url="#verbindung_002-effect"/>
+    </material>
+    <material id="blau_002-material" name="blau_002">
+      <instance_effect url="#blau_002-effect"/>
+    </material>
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+          <technique_common>
+            <accessor source="#ActorShape1_0-Mesh_020-mesh-normals-array" count="6460" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ActorShape1_0-Mesh_020-mesh-vertices">
+          <input semantic="POSITION" source="#ActorShape1_0-Mesh_020-mesh-positions"/>
+        </vertices>
+        <triangles material="blau_002-material" count="10694">
+          <input semantic="VERTEX" source="#ActorShape1_0-Mesh_020-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ActorShape1_0-Mesh_020-mesh-normals" offset="1"/>
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6372 5330 6372 5330 6373 5331 6373 5656 6373 5656 6374 5331 6374 5333 6374 5656 6375 5333 6375 5332 6375 5342 6376 5343 6376 5656 6376 5321 6377 5322 6377 5261 6377 5261 6378 5322 6378 5323 6378 5261 6379 5323 6379 5246 6379 5246 6380 5245 6380 5261 6380 5261 6381 5245 6381 5861 6381 5261 6382 5861 6382 5325 6382 5656 6383 5260 6383 5327 6383 5327 6384 5260 6384 5261 6384 5327 6385 5261 6385 5328 6385 5328 6386 5261 6386 5329 6386 5332 6387 5334 6387 5656 6387 5656 6388 5334 6388 5335 6388 5656 6389 5335 6389 5337 6389 5266 6390 5267 6390 5313 6390 5313 6391 5267 6391 5268 6391 5313 6392 5268 6392 5269 6392 5269 6393 5270 6393 5313 6393 5313 6394 5270 6394 5271 6394 5313 6395 5271 6395 5272 6395 5272 6396 5273 6396 5313 6396 5313 6397 5273 6397 5274 6397 5313 6398 5274 6398 5314 6398 5576 6399 5256 6399 5575 6399 5285 6400 5286 6400 5307 6400 5337 6401 5336 6401 5656 6401 5656 6402 5336 6402 5338 6402 5656 6403 5338 6403 5341 6403 5341 6404 5340 6404 5656 6404 5656 6405 5340 6405 5339 6405 5656 6406 5339 6406 5342 6406 5575 6407 5587 6407 5250 6407 5250 6408 5587 6408 5656 6408 5250 6409 5656 6409 5730 6409 5275 6410 5276 6410 5307 6410 5295 6411 5296 6411 5307 6411 5275 6412 5307 6412 5274 6412 5274 6413 5307 6413 5992 6413 5274 6414 5992 6414 5310 6414 5310 6415 5311 6415 5274 6415 5274 6416 5311 6416 5312 6416 5274 6417 5312 6417 5314 6417 5343 6418 5345 6418 5656 6418 5656 6419 5345 6419 5344 6419 5656 6420 5344 6420 5346 6420 5346 6421 5347 6421 5656 6421 5656 6422 5347 6422 5348 6422 5656 6423 5348 6423 5736 6423 5736 6424 5735 6424 5656 6424 5656 6425 5735 6425 5747 6425 5656 6426 5747 6426 5730 6426 5250 6427 5253 6427 5575 6427 5575 6428 5253 6428 5554 6428 5575 6429 5554 6429 5576 6429 5576 6430 5554 6430 5254 6430 5304 6431 5305 6431 5306 6431 5276 6432 5277 6432 5307 6432 5307 6433 5277 6433 5278 6433 5307 6434 5278 6434 5279 6434 5279 6435 5280 6435 5307 6435 5307 6436 5280 6436 5281 6436 5307 6437 5281 6437 5282 6437 5282 6438 5283 6438 5307 6438 5307 6439 5283 6439 5284 6439 5307 6440 5284 6440 5285 6440 5286 6441 5287 6441 5307 6441 5307 6442 5287 6442 5288 6442 5307 6443 5288 6443 5289 6443 5296 6444 5298 6444 5307 6444 5307 6445 5298 6445 5297 6445 5307 6446 5297 6446 5299 6446 5299 6447 5300 6447 5307 6447 5307 6448 5300 6448 5301 6448 5307 6449 5301 6449 5302 6449 5308 6450 5307 6450 5306 6450 5306 6451 5307 6451 5302 6451 5306 6452 5302 6452 5304 6452 5304 6453 5302 6453 5303 6453 5289 6454 5290 6454 5307 6454 5307 6455 5290 6455 5291 6455 5307 6456 5291 6456 5292 6456 5292 6457 5293 6457 5307 6457 5307 6458 5293 6458 5294 6458 5307 6459 5294 6459 5295 6459</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_026-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Scheibe_002-material" target="#Scheibe_002-material"/>
+              <instance_material symbol="verbindung_002-material" target="#verbindung_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_020-mesh" name="Actor1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau_002-material" target="#blau_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH56DFX/meshes/ur5/visual/wrist3.dae b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/wrist3.dae
new file mode 100644
index 0000000000000000000000000000000000000000..8c6b2b677726aebd925211ef1e4c9593ff2e2ed3
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/meshes/ur5/visual/wrist3.dae
@@ -0,0 +1,233 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:57:50</created>
+    <modified>2018-07-11T13:57:50</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
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+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0_001" name="Actor0_001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_003-mesh" name="Actor0_001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rohr_007_001-material" target="#Rohr_007_001-material"/>
+              <instance_material symbol="SWMaterial-1_004_002_001-material" target="#SWMaterial-1_004_002_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_index.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_index.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_index.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_index.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_index.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ef528c7c1c7e42a785ee887e8ea6045d2e2c1a
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_index.obj
@@ -0,0 +1,13636 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_left_index.mtl
+o left_index_rubber_2
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diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_little.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_little.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_little.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_little.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_little.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde579c42c6f4e73d55faf9b47bd18952450dd19
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_little.obj
@@ -0,0 +1,12297 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_left_little.mtl
+o left_little_rubber_2
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diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_middle.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_middle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_middle.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_middle.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_middle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810e4f0cd7f80f64211fa1d0402edd89c35acb76
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_middle.obj
@@ -0,0 +1,13922 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_left_middle.mtl
+o left_middle_rubber_2
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diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_ring.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_ring.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_ring.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_ring.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_ring.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3705a61cfda55309c51d817d693f21107cf1f59
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_ring.obj
@@ -0,0 +1,12297 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_left_ring.mtl
+o left_ring_rubber_2
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diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_thumb.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_thumb.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_thumb.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_thumb.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_thumb.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f130ec3affa46acd39e7fdcf5400c1a07887e634
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_left_thumb.obj
@@ -0,0 +1,8016 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_left_thumb.mtl
+o left_thumb_rubber_3
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diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_index.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_index.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_index.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_index.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_index.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db05f3e87e33b061ca653fa21bb72cbcefd95e0c
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_index.obj
@@ -0,0 +1,12915 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_right_index.mtl
+o right_index_rubber_2
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diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_little.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_little.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_little.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_little.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_little.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d24472dcf8d523ad4d1b45d5ab40fc77cbc0dd11
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_little.obj
@@ -0,0 +1,11930 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_right_little.mtl
+o right_little_rubber_2
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diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_middle.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_middle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_middle.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_middle.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_middle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e078ec0663721f3db036aa1a64939e9f24accdb0
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_middle.obj
@@ -0,0 +1,13496 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_right_middle.mtl
+o right_middle_rubber_2
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diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_ring.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_ring.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_ring.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_ring.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_ring.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa467687d865e3f6f098f9f3988513ecd9b0cc38
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_ring.obj
@@ -0,0 +1,13453 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_right_ring.mtl
+o right_ring_rubber_2
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diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_thumb.mtl b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_thumb.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_thumb.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_thumb.obj b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_thumb.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95237a60d811ca3289102b509bc77fd0eaa94aba
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/tactile_sensor/tactile_right_thumb.obj
@@ -0,0 +1,8474 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_right_thumb.mtl
+o right_thumb_rubber_3
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diff --git a/Robots_p/ur5+RH56DFX/urdf/Left_Hand.urdf b/Robots_p/ur5+RH56DFX/urdf/Left_Hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f26b6317bdf1162ddd2c20eb17dd6df13617da97
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/urdf/Left_Hand.urdf
@@ -0,0 +1,2059 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<robot
+  name="RH56DFX_L">
+  <link
+    name="l_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000268668674108991 0.0015636026908947 0.0676652785627349"
+        rpy="0 0 0" />
+      <mass
+        value="0.442813527981768" />
+      <inertia
+        ixx="0.000322835112427508"
+        ixy="-1.36479279308734E-06"
+        ixz="-1.95509333888133E-06"
+        iyy="0.000208328788663727"
+        iyz="-1.18056690447212E-06"
+        izz="0.000184844276743646" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_index_1">
+    <inertial>
+      <origin
+        xyz="0.000461541435806748 0.0116515999092918 -0.00590003371767778"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881197798488192" />
+      <inertia
+        ixx="1.40231256514907E-06"
+        ixy="-1.11031049765784E-07"
+        ixz="-1.50176863585873E-13"
+        iyy="4.33616279511412E-07"
+        iyz="-1.88748416819907E-11"
+        izz="1.46953546409383E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.032168 0.13653"
+      rpy="1.6057 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_index_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_rubber_1">
+    <inertial>
+      <origin
+        xyz="4.68277174120457E-07 -0.000277303856020789 -0.00810702693776179"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100751026337751" />
+      <inertia
+        ixx="9.52671501444302E-08"
+        ixy="1.84036325900436E-12"
+        ixz="1.13718347017134E-12"
+        iyy="6.33345321582835E-08"
+        iyz="-1.10134831421706E-08"
+        izz="8.23781987482187E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_index_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0058991"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_index_1" />
+    <child
+      link="left_index_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_2">
+    <inertial>
+      <origin
+        xyz="0.000846459676133157 0.0159699536063371 -0.00510110719069301"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925219566437243" />
+      <inertia
+        ixx="8.02591954199889E-07"
+        ixy="-2.71399260329327E-07"
+        ixz="3.18046037103459E-11"
+        iyy="2.63864748341419E-07"
+        iyz="6.03616925212557E-11"
+        izz="9.31327037342977E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_index_1" />
+    <child
+      link="left_index_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_index_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_index_rubber_2">
+    <inertial>
+      <origin
+        xyz="3.71014377972823E-06 0.0158540066839677 -0.000683115137425958"
+        rpy="0 0 0" />
+      <mass
+        value="0.00119004560800986" />
+      <inertia
+        ixx="1.35899798757468E-07"
+        ixy="8.50258176038262E-11"
+        ixz="-8.30283954597281E-12"
+        iyy="2.32721303061557E-08"
+        iyz="-1.59661991933365E-08"
+        izz="1.37431891967755E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0070147 0.012486 -0.0050557"
+      rpy="-1.4508 1.5638 -1.5708" />
+    <parent
+      link="left_index_2" />
+    <child
+      link="left_index_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_pad">
+    <inertial>
+      <origin
+        xyz="4.72282110058897E-06 -0.00107358686744947 -0.000867315001026159"
+        rpy="0 0 0" />
+      <mass
+        value="1.74942869080946E-05" />
+      <inertia
+        ixx="1.97791136671661E-11"
+        ixy="8.97449012100217E-15"
+        ixz="-1.07077919025427E-13"
+        iyy="2.4905734214284E-11"
+        iyz="-1.72170853830108E-12"
+        izz="3.95652071926162E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_index_pad_joint"
+    type="fixed">
+    <origin
+      xyz="-3.0024E-05 0.023788 0.0056217"
+      rpy="0.06969 4.3644E-05 0.00036203" />
+    <parent
+      link="left_index_rubber_2" />
+    <child
+      link="left_index_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856665300146248 1.89922067794779E-08 -0.00102183808192999"
+        rpy="0 0 0" />
+      <mass
+        value="1.72886638937717E-05" />
+      <inertia
+        ixx="2.56768040770671E-11"
+        ixy="-3.18365589820315E-16"
+        ixz="-2.20292569548206E-12"
+        iyy="1.54551010736424E-11"
+        iyz="-2.29614533759763E-16"
+        izz="3.38497054068354E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_tip_joint"
+    type="fixed">
+    <origin
+      xyz="-1.3022E-05 0.031221 0.0024574"
+      rpy="0.013258 -1.1544 -1.5829" />
+    <parent
+      link="left_index_rubber_2" />
+    <child
+      link="left_index_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_1">
+    <inertial>
+      <origin
+        xyz="0.000461541629691434 0.0116515965600647 -0.00590004767005833"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881199030020868" />
+      <inertia
+        ixx="1.402314881009E-06"
+        ixy="-1.1103177744641E-07"
+        ixz="2.87006958572461E-13"
+        iyy="4.33616449238026E-07"
+        iyz="-2.06974793533729E-11"
+        izz="1.46953643689907E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.01285 0.1371"
+      rpy="1.5708 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_middle_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_rubber_1">
+    <inertial>
+      <origin
+        xyz="3.76242707489371E-07 -0.000277324370050402 -0.00810714899813504"
+        rpy="0 0 0" />
+      <mass
+        value="0.0010075153682363" />
+      <inertia
+        ixx="9.52684580421518E-08"
+        ixy="1.33553156016871E-12"
+        ixz="1.042819671443E-12"
+        iyy="6.33352914158103E-08"
+        iyz="-1.10143468396073E-08"
+        izz="8.23787642940307E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0059"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_middle_1" />
+    <child
+      link="left_middle_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_2">
+    <inertial>
+      <origin
+        xyz="0.00141025127204816 0.0172293351814034 -0.0051009418470411"
+        rpy="0 0 0" />
+      <mass
+        value="0.0100501383248898" />
+      <inertia
+        ixx="1.00700764221843E-06"
+        ixy="-3.53465655492272E-07"
+        ixz="3.99940302421788E-11"
+        iyy="3.12319057843603E-07"
+        iyz="9.53011587542506E-11"
+        izz="1.17275755016607E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_middle_1" />
+    <child
+      link="left_middle_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_middle_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_middle_rubber_2">
+    <inertial>
+      <origin
+        xyz="7.7280108489175E-06 0.0179695904606754 -0.000804044743343377"
+        rpy="0 0 0" />
+      <mass
+        value="0.00130495514940863" />
+      <inertia
+        ixx="1.76870136972793E-07"
+        ixy="1.74860270573956E-10"
+        ixz="-1.8349295119375E-11"
+        iyy="2.53005759725666E-08"
+        iyz="-1.81404682177571E-08"
+        izz="1.7876054155983E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0072845 0.012518 -0.0050018"
+      rpy="-1.4221 1.5657 -1.5708" />
+    <parent
+      link="left_middle_2" />
+    <child
+      link="left_middle_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_pad">
+    <inertial>
+      <origin
+        xyz="9.151649575323E-06 -0.000840645806262336 -0.000949482426872789"
+        rpy="0 0 0" />
+      <mass
+        value="1.80772540251388E-05" />
+      <inertia
+        ixx="1.75941754992311E-11"
+        ixy="2.77833025016137E-15"
+        ixz="-1.92244046682768E-13"
+        iyy="2.64975629801485E-11"
+        iyz="-2.90926190882174E-13"
+        izz="3.75465127391272E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_pad_joint"
+    type="fixed">
+    <origin
+      xyz="-5.2544E-05 0.027502 0.0054598"
+      rpy="-0.0051797 0 -5.2357E-05" />
+    <parent
+      link="left_middle_rubber_2" />
+    <child
+      link="left_middle_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_tip">
+    <inertial>
+      <origin
+        xyz="-0.000704283150912199 1.7201949642498E-08 -0.00102507469949608"
+        rpy="0 0 0" />
+      <mass
+        value="1.74735221647541E-05" />
+      <inertia
+        ixx="2.66254867244747E-11"
+        ixy="-8.56607522324162E-17"
+        ixz="-2.97431807749547E-12"
+        iyy="1.56734895823109E-11"
+        iyz="-1.96338363593241E-16"
+        izz="3.33104724852485E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_tip_joint"
+    type="fixed">
+    <origin
+      xyz="-2.1444E-05 0.034794 0.0022343"
+      rpy="0.021285 -1.101 -1.5898" />
+    <parent
+      link="left_middle_rubber_2" />
+    <child
+      link="left_middle_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_1">
+    <inertial>
+      <origin
+        xyz="0.000461494817524277 0.0116511737378697 -0.00589994851254613"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881225131736491" />
+      <inertia
+        ixx="1.4023609373404E-06"
+        ixy="-1.11035394965408E-07"
+        ixz="2.55480359890585E-13"
+        iyy="4.33624681540377E-07"
+        iyz="-7.77690276242677E-12"
+        izz="1.46958459945842E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.006387 0.13691"
+      rpy="1.5184 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_ring_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_ring_rubber_1">
+    <inertial>
+      <origin
+        xyz="3.97276237074085E-07 -0.000277764184339203 -0.00810761946354124"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100758613637168" />
+      <inertia
+        ixx="9.52792767085873E-08"
+        ixy="9.3671521036911E-13"
+        ixz="3.62426517818737E-13"
+        iyy="6.33418104503754E-08"
+        iyz="-1.10190419744933E-08"
+        izz="8.23832309611864E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0059"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_ring_1" />
+    <child
+      link="left_ring_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_2">
+    <inertial>
+      <origin
+        xyz="0.000846463894616276 0.0159699347053668 -0.00510109047393134"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925219955369937" />
+      <inertia
+        ixx="8.02593514012324E-07"
+        ixy="-2.71398953285731E-07"
+        ixz="3.22070489063026E-11"
+        iyy="2.63864681119925E-07"
+        iyz="6.01329936683976E-11"
+        izz="9.31327943786773E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_ring_1" />
+    <child
+      link="left_ring_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_ring_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_ring_rubber_2">
+    <inertial>
+      <origin
+        xyz="0.00104284546218292 0.0157830815140177 0.00127604090326092"
+        rpy="0 0 0" />
+      <mass
+        value="0.0011900510522096" />
+      <inertia
+        ixx="1.35418744149707E-07"
+        ixy="-7.15356862405758E-09"
+        ixz="-1.95071607592085E-09"
+        iyy="2.93921822376163E-08"
+        iyz="-2.9378722813243E-08"
+        izz="1.31791666226389E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0068534 0.012369 -0.0050852"
+      rpy="1.5708 1.5184 1.5708" />
+    <parent
+      link="left_ring_2" />
+    <child
+      link="left_ring_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_pad">
+    <inertial>
+      <origin
+        xyz="-4.94030643549692E-06 -0.00107358706632565 -0.000867313787048102"
+        rpy="0 0 0" />
+      <mass
+        value="1.74942858951091E-05" />
+      <inertia
+        ixx="1.97791820297692E-11"
+        ixy="-1.02094554854047E-14"
+        ixz="1.13379094195E-13"
+        iyy="2.49057330486905E-11"
+        iyz="-1.72170092059304E-12"
+        izz="3.956513413185E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_pad_joint"
+    type="fixed">
+    <origin
+      xyz="0.0015481 0.022862 0.0085106"
+      rpy="0.19325 0 -0.066635" />
+    <parent
+      link="left_ring_rubber_2" />
+    <child
+      link="left_ring_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856665327644918 1.70945193556093E-08 -0.00102183693569345"
+        rpy="0 0 0" />
+      <mass
+        value="1.72886814655676E-05" />
+      <inertia
+        ixx="2.56768444584749E-11"
+        ixy="-3.08326142677964E-16"
+        ixz="-2.20293053403915E-12"
+        iyy="1.54551255925788E-11"
+        iyz="-2.10809793762438E-16"
+        izz="3.38497407009298E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0.0020441 0.030612 0.0062864"
+      rpy="-0.010923 -1.0309 -1.627" />
+    <parent
+      link="left_ring_rubber_2" />
+    <child
+      link="left_ring_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_1">
+    <inertial>
+      <origin
+        xyz="0.000461475145814225 0.011651147716913 -0.00589994431843319"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881226910619359" />
+      <inertia
+        ixx="1.40236349914062E-06"
+        ixy="-1.1103737933177E-07"
+        ixz="9.26298240945681E-13"
+        iyy="4.33626325901594E-07"
+        iyz="-7.54482753315849E-12"
+        izz="1.46958855372561E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_little_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.025587 0.1357"
+      rpy="1.4661 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_little_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_little_rubber_1">
+    <inertial>
+      <origin
+        xyz="3.9661069733965E-07 -0.000277754419665203 -0.00810761540409644"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100758672179722" />
+      <inertia
+        ixx="9.52792831249349E-08"
+        ixy="9.76489467985872E-13"
+        ixz="3.40096311213686E-13"
+        iyy="6.33417927153541E-08"
+        iyz="-1.10190652424395E-08"
+        izz="8.23833299006405E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_little_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0059"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_little_1" />
+    <child
+      link="left_little_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_2">
+    <inertial>
+      <origin
+        xyz="-9.66953409735488E-05 0.0131703851115681 -0.0051009352074308"
+        rpy="0 0 0" />
+      <mass
+        value="0.0073597603922405" />
+      <inertia
+        ixx="4.52977984459269E-07"
+        ixy="-1.39937157845321E-07"
+        ixz="2.17043248135716E-11"
+        iyy="1.74899587515266E-07"
+        iyz="4.793455924041E-11"
+        izz="5.20964333649667E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_little_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_little_1" />
+    <child
+      link="left_little_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_little_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_little_rubber_2">
+    <inertial>
+      <origin
+        xyz="7.99800886075452E-08 0.0112749035859891 -0.000128893404753347"
+        rpy="0 0 0" />
+      <mass
+        value="0.000944677110750505" />
+      <inertia
+        ixx="7.27256998745925E-08"
+        ixy="8.79447839606861E-12"
+        ixz="-4.11179878788017E-13"
+        iyy="1.9751675428608E-08"
+        iyz="-1.31114374351836E-08"
+        izz="7.28078257130206E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_little_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0060598 0.012028 -0.0051"
+      rpy="3.1407 1.5701 3.1338" />
+    <parent
+      link="left_little_2" />
+    <child
+      link="left_little_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_pad">
+    <inertial>
+      <origin
+        xyz="4.26351731697139E-09 -0.000945394972293657 -0.000793541046852669"
+        rpy="0 0 0" />
+      <mass
+        value="1.46539353671065E-05" />
+      <inertia
+        ixx="1.40180735091283E-11"
+        ixy="1.6193464210242E-17"
+        ixz="1.17587638114339E-16"
+        iyy="2.05087141535222E-11"
+        iyz="-1.09095131218755E-12"
+        izz="3.10123565645623E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_little_pad_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.015811 0.0062245"
+      rpy="0.23432 -0.00072425 0" />
+    <parent
+      link="left_little_rubber_2" />
+    <child
+      link="left_little_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_tip">
+    <inertial>
+      <origin
+        xyz="-0.000679511004398545 -7.33584859524683E-09 -0.0009899693704125"
+        rpy="0 0 0" />
+      <mass
+        value="1.82383852219562E-05" />
+      <inertia
+        ixx="2.78570131965694E-11"
+        ixy="-6.23802723801218E-17"
+        ixz="-2.37868618847864E-12"
+        iyy="1.66773044526593E-11"
+        iyz="4.01471577678487E-17"
+        izz="3.57549531689912E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_little_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.023528 0.0036479"
+      rpy="0.0019559 -1.1915 -1.5726" />
+    <parent
+      link="left_little_rubber_2" />
+    <child
+      link="left_little_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="l_plam">
+    <inertial>
+      <origin
+        xyz="0.00487540843079473 -0.00792635358921371 0.000407295131145527"
+        rpy="0 0 0" />
+      <mass
+        value="0.0103867697224328" />
+      <inertia
+        ixx="4.32579238773537E-06"
+        ixy="1.82986381074143E-06"
+        ixz="-1.24431557170631E-07"
+        iyy="5.02135147678096E-06"
+        iyz="6.0880720395417E-07"
+        izz="9.01588192510949E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_plam.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_plam.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_plam_joint"
+    type="fixed">
+    <origin
+      xyz="0.014363 0.0044514 0.10148"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="l_plam" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_1">
+    <inertial>
+      <origin
+        xyz="0.000675346448543043 -0.00433551697891771 -0.00508780193489456"
+        rpy="0 0 0" />
+      <mass
+        value="0.0048541771537782" />
+      <inertia
+        ixx="1.96094051160198E-07"
+        ixy="3.4858314687744E-08"
+        ixz="-3.39249138133517E-09"
+        iyy="1.43278984955152E-07"
+        iyz="8.19838067662732E-09"
+        izz="1.68938152839344E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_1_joint"
+    type="revolute">
+    <origin
+      xyz="0.01696 -0.02045 0.0667"
+      rpy="0 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_thumb_1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.310384"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_2">
+    <inertial>
+      <origin
+        xyz="0.0217021678253001 0.0140075970723664 0.00802372797249212"
+        rpy="0 0 0" />
+      <mass
+        value="0.0314644827364552" />
+      <inertia
+        ixx="4.77086341809611E-06"
+        ixy="-2.24566024867355E-06"
+        ixz="1.95467941085415E-09"
+        iyy="5.25069497924692E-06"
+        iyz="-6.67201748128018E-10"
+        izz="9.41389275530489E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.010704 -0.0090376 -0.0065"
+      rpy="1.5708 0 -1.309" />
+    <parent
+      link="left_thumb_1" />
+    <child
+      link="left_thumb_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.523477"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.40162647625353E-05 0.00265236291170259 -0.00524128392726222"
+        rpy="0 0 0" />
+      <mass
+        value="0.0014906283411173" />
+      <inertia
+        ixx="1.88752644928606E-07"
+        ixy="-3.8026755003658E-11"
+        ixz="-3.8765284624088E-10"
+        iyy="8.68559982474995E-08"
+        iyz="3.72404130676969E-09"
+        izz="2.26622483357037E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.013047 0.031386 0.0079991"
+      rpy="3.1382 1.5604 -0.95011" />
+    <parent
+      link="left_thumb_2" />
+    <child
+      link="left_thumb_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_3">
+    <inertial>
+      <origin
+        xyz="0.00916392494072082 -0.000213746989467434 0.00749980580117554"
+        rpy="0 0 0" />
+      <mass
+        value="0.00637729293152042" />
+      <inertia
+        ixx="7.06808324923041E-07"
+        ixy="-1.80649444240681E-07"
+        ixz="-4.54605002004831E-12"
+        iyy="5.60096873247658E-07"
+        iyz="-6.4139500191323E-12"
+        izz="8.41963898391664E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_3.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_3_joint"
+    type="revolute">
+    <origin
+      xyz="0.041584 0.037508 0.0005"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_2" />
+    <child
+      link="left_thumb_3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.606844"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_thumb_2_joint"
+        multiplier="1.1425"
+        offset="0" />
+  </joint>
+  <link
+    name="left_thumb_rubber_2">
+    <inertial>
+      <origin
+        xyz="0.000162365997336933 -0.00288606632154562 -0.00905409083254546"
+        rpy="0 0 0" />
+      <mass
+        value="0.000712407776191055" />
+      <inertia
+        ixx="4.20918453267061E-08"
+        ixy="1.57340698262729E-10"
+        ixz="1.3516984445783E-10"
+        iyy="5.19680969543388E-08"
+        iyz="-8.47498354856299E-09"
+        izz="3.43794675555184E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.00507 0.011874 0.0075"
+      rpy="3.1416 1.5531 -1.0475" />
+    <parent
+      link="left_thumb_3" />
+    <child
+      link="left_thumb_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_4">
+    <inertial>
+      <origin
+        xyz="0.00556381842605763 0.00321786565136162 0.00598762078210308"
+        rpy="0 0 0" />
+      <mass
+        value="0.00250044545642775" />
+      <inertia
+        ixx="7.83011856485637E-08"
+        ixy="-4.7057697220776E-08"
+        ixz="-1.10925668134676E-10"
+        iyy="7.83149579014379E-08"
+        iyz="-2.74917415975889E-10"
+        izz="1.30863153598266E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_4_joint"
+    type="revolute">
+    <origin
+      xyz="0.018393 0.013222 0.0015"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_3" />
+    <child
+      link="left_thumb_4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.430866"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_thumb_3_joint"
+        multiplier="0.7508"
+        offset="0.1" />
+  </joint>
+  <link
+    name="left_thumb_rubber_3">
+    <inertial>
+      <origin
+        xyz="0.000268126145379105 -0.00224962169943535 -0.00745388764640809"
+        rpy="0 0 0" />
+      <mass
+        value="0.00232428792968957" />
+      <inertia
+        ixx="1.17389753346854E-07"
+        ixy="-2.01766145271162E-10"
+        ixz="-5.32341724071498E-12"
+        iyy="6.66695035665084E-08"
+        iyz="5.60795555686443E-09"
+        izz="1.17533665402913E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_3.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_rubber_3_joint"
+    type="fixed">
+    <origin
+      xyz="0.001618 0.009709 0.006"
+      rpy="3.1415 1.5348 -0.55813" />
+    <parent
+      link="left_thumb_4" />
+    <child
+      link="left_thumb_rubber_3" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_pad">
+    <inertial>
+      <origin
+        xyz="-3.37221102708618E-08 0.00163135155510163 -0.00128514999690035"
+        rpy="0 0 0" />
+      <mass
+        value="4.94551999339821E-05" />
+      <inertia
+        ixx="1.38213576910352E-10"
+        ixy="4.70832523459267E-16"
+        ixz="1.49104319677513E-15"
+        iyy="8.81925937138397E-11"
+        iyz="-2.69646775933514E-12"
+        izz="1.80759780259597E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_pad_joint"
+    type="fixed">
+    <origin
+      xyz="4.8581E-05 -0.007836 -0.0013499"
+      rpy="0.28005 -0.035991 -1.4391E-05" />
+    <parent
+      link="left_thumb_rubber_3" />
+    <child
+      link="left_thumb_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_tip">
+    <inertial>
+      <origin
+        xyz="2.50035524579084E-05 -0.00144636222857047 -0.00180325426020556"
+        rpy="0 0 0" />
+      <mass
+        value="6.08897929255959E-05" />
+      <inertia
+        ixx="1.79108473399612E-10"
+        ixy="4.05362271422044E-13"
+        ixz="-3.7128202926775E-13"
+        iyy="1.33990932373892E-10"
+        iyz="-2.89649540571285E-11"
+        izz="2.06216102977108E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0.00028944 -0.014777 -0.0080365"
+      rpy="1.3794 -0.03325 0.013534" />
+    <parent
+      link="left_thumb_rubber_3" />
+    <child
+      link="left_thumb_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
diff --git a/Robots_p/ur5+RH56DFX/urdf/Left_UR5_RH56DFX_with_flange.urdf b/Robots_p/ur5+RH56DFX/urdf/Left_UR5_RH56DFX_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..09ea6a1dceaceb5c1f36fd8d24872f9fae55a0cb
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/urdf/Left_UR5_RH56DFX_with_flange.urdf
@@ -0,0 +1,2656 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  
+  <link name="L_arm_base_link"/>
+  <link name="L_arm_base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="L_arm_shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="L_arm_upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="L_arm_forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="L_arm_base_link-L_arm_base_link_inertia" type="fixed">
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base_link_inertia"/>
+    <!-- 'L_arm_base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'L_arm_base_link' and 'L_arm_base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="L_arm_shoulder_pan_joint" type="revolute">
+    <parent link="L_arm_base_link_inertia"/>
+    <child link="L_arm_shoulder_link"/>
+    <origin rpy="0 0 3.14" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_shoulder_lift_joint" type="revolute">
+    <parent link="L_arm_shoulder_link"/>
+    <child link="L_arm_upper_arm_link"/>
+    <origin rpy="-1.570796327 0 3.14" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_elbow_joint" type="revolute">
+    <parent link="L_arm_upper_arm_link"/>
+    <child link="L_arm_forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_1_joint" type="revolute">
+    <parent link="L_arm_forearm_link"/>
+    <child link="L_arm_wrist_1_link"/>
+    <origin rpy="0 0 3.14" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_2_joint" type="revolute">
+    <parent link="L_arm_wrist_1_link"/>
+    <child link="L_arm_wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_3_joint" type="revolute">
+    <parent link="L_arm_wrist_2_link"/>
+    <child link="L_arm_wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - L_arm_base_link to UR 'Base' Coordinates transform -->
+  <link name="L_arm_base"/>
+  <joint name="L_arm_base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as L_arm_base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="L_arm_flange"/>
+  <joint name="L_arm_wrist_3-flange" type="fixed">
+    <parent link="L_arm_wrist_3_link"/>
+    <child link="L_arm_flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="L_arm_tool0"/>
+  <joint name="L_arm_flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="L_arm_flange"/>
+    <child link="L_arm_tool0"/>
+  </joint>
+  
+    <joint name="wrist3_to_l_base" type="fixed">
+      <origin xyz="0 0 0.010" rpy="0 0 1.57"/>
+      <parent link="L_arm_wrist_3_link"/>
+      <child link="l_base_link"/>
+    </joint>
+    
+  <link
+    name="l_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000268668674108991 0.0015636026908947 0.0676652785627349"
+        rpy="0 0 0" />
+      <mass
+        value="0.442813527981768" />
+      <inertia
+        ixx="0.000322835112427508"
+        ixy="-1.36479279308734E-06"
+        ixz="-1.95509333888133E-06"
+        iyy="0.000208328788663727"
+        iyz="-1.18056690447212E-06"
+        izz="0.000184844276743646" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="l_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955482757104E-10 1.16584020215527E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425511" />
+      <inertia
+        ixx="5.79403393826273E-06"
+        ixy="-2.14169580494357E-14"
+        ixz="5.36313442288001E-14"
+        iyy="5.79403739954585E-06"
+        iyz="-1.74818942913611E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.00950000000000002"
+      rpy="0 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="l_flange" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_1">
+    <inertial>
+      <origin
+        xyz="0.000461541435806748 0.0116515999092918 -0.00590003371767778"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881197798488192" />
+      <inertia
+        ixx="1.40231256514907E-06"
+        ixy="-1.11031049765784E-07"
+        ixz="-1.50176863585873E-13"
+        iyy="4.33616279511412E-07"
+        iyz="-1.88748416819907E-11"
+        izz="1.46953546409383E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.032168 0.13653"
+      rpy="1.6057 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_index_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_rubber_1">
+    <inertial>
+      <origin
+        xyz="4.68277174120457E-07 -0.000277303856020789 -0.00810702693776179"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100751026337751" />
+      <inertia
+        ixx="9.52671501444302E-08"
+        ixy="1.84036325900436E-12"
+        ixz="1.13718347017134E-12"
+        iyy="6.33345321582835E-08"
+        iyz="-1.10134831421706E-08"
+        izz="8.23781987482187E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_index_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0058991"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_index_1" />
+    <child
+      link="left_index_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_2">
+    <inertial>
+      <origin
+        xyz="0.000846459676133157 0.0159699536063371 -0.00510110719069301"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925219566437243" />
+      <inertia
+        ixx="8.02591954199889E-07"
+        ixy="-2.71399260329327E-07"
+        ixz="3.18046037103459E-11"
+        iyy="2.63864748341419E-07"
+        iyz="6.03616925212557E-11"
+        izz="9.31327037342977E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_index_1" />
+    <child
+      link="left_index_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_index_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_index_rubber_2">
+    <inertial>
+      <origin
+        xyz="3.71014377972823E-06 0.0158540066839677 -0.000683115137425958"
+        rpy="0 0 0" />
+      <mass
+        value="0.00119004560800986" />
+      <inertia
+        ixx="1.35899798757468E-07"
+        ixy="8.50258176038262E-11"
+        ixz="-8.30283954597281E-12"
+        iyy="2.32721303061557E-08"
+        iyz="-1.59661991933365E-08"
+        izz="1.37431891967755E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0070147 0.012486 -0.0050557"
+      rpy="-1.4508 1.5638 -1.5708" />
+    <parent
+      link="left_index_2" />
+    <child
+      link="left_index_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_pad">
+    <inertial>
+      <origin
+        xyz="4.72282110058897E-06 -0.00107358686744947 -0.000867315001026159"
+        rpy="0 0 0" />
+      <mass
+        value="1.74942869080946E-05" />
+      <inertia
+        ixx="1.97791136671661E-11"
+        ixy="8.97449012100217E-15"
+        ixz="-1.07077919025427E-13"
+        iyy="2.4905734214284E-11"
+        iyz="-1.72170853830108E-12"
+        izz="3.95652071926162E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_index_pad_joint"
+    type="fixed">
+    <origin
+      xyz="-3.0024E-05 0.023788 0.0056217"
+      rpy="0.06969 4.3644E-05 0.00036203" />
+    <parent
+      link="left_index_rubber_2" />
+    <child
+      link="left_index_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856665300146248 1.89922067794779E-08 -0.00102183808192999"
+        rpy="0 0 0" />
+      <mass
+        value="1.72886638937717E-05" />
+      <inertia
+        ixx="2.56768040770671E-11"
+        ixy="-3.18365589820315E-16"
+        ixz="-2.20292569548206E-12"
+        iyy="1.54551010736424E-11"
+        iyz="-2.29614533759763E-16"
+        izz="3.38497054068354E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_tip_joint"
+    type="fixed">
+    <origin
+      xyz="-1.3022E-05 0.031221 0.0024574"
+      rpy="0.013258 -1.1544 -1.5829" />
+    <parent
+      link="left_index_rubber_2" />
+    <child
+      link="left_index_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_1">
+    <inertial>
+      <origin
+        xyz="0.000461541629691434 0.0116515965600647 -0.00590004767005833"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881199030020868" />
+      <inertia
+        ixx="1.402314881009E-06"
+        ixy="-1.1103177744641E-07"
+        ixz="2.87006958572461E-13"
+        iyy="4.33616449238026E-07"
+        iyz="-2.06974793533729E-11"
+        izz="1.46953643689907E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.01285 0.1371"
+      rpy="1.5708 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_middle_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_rubber_1">
+    <inertial>
+      <origin
+        xyz="3.76242707489371E-07 -0.000277324370050402 -0.00810714899813504"
+        rpy="0 0 0" />
+      <mass
+        value="0.0010075153682363" />
+      <inertia
+        ixx="9.52684580421518E-08"
+        ixy="1.33553156016871E-12"
+        ixz="1.042819671443E-12"
+        iyy="6.33352914158103E-08"
+        iyz="-1.10143468396073E-08"
+        izz="8.23787642940307E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0059"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_middle_1" />
+    <child
+      link="left_middle_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_2">
+    <inertial>
+      <origin
+        xyz="0.00141025127204816 0.0172293351814034 -0.0051009418470411"
+        rpy="0 0 0" />
+      <mass
+        value="0.0100501383248898" />
+      <inertia
+        ixx="1.00700764221843E-06"
+        ixy="-3.53465655492272E-07"
+        ixz="3.99940302421788E-11"
+        iyy="3.12319057843603E-07"
+        iyz="9.53011587542506E-11"
+        izz="1.17275755016607E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_middle_1" />
+    <child
+      link="left_middle_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_middle_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_middle_rubber_2">
+    <inertial>
+      <origin
+        xyz="7.7280108489175E-06 0.0179695904606754 -0.000804044743343377"
+        rpy="0 0 0" />
+      <mass
+        value="0.00130495514940863" />
+      <inertia
+        ixx="1.76870136972793E-07"
+        ixy="1.74860270573956E-10"
+        ixz="-1.8349295119375E-11"
+        iyy="2.53005759725666E-08"
+        iyz="-1.81404682177571E-08"
+        izz="1.7876054155983E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0072845 0.012518 -0.0050018"
+      rpy="-1.4221 1.5657 -1.5708" />
+    <parent
+      link="left_middle_2" />
+    <child
+      link="left_middle_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_pad">
+    <inertial>
+      <origin
+        xyz="9.151649575323E-06 -0.000840645806262336 -0.000949482426872789"
+        rpy="0 0 0" />
+      <mass
+        value="1.80772540251388E-05" />
+      <inertia
+        ixx="1.75941754992311E-11"
+        ixy="2.77833025016137E-15"
+        ixz="-1.92244046682768E-13"
+        iyy="2.64975629801485E-11"
+        iyz="-2.90926190882174E-13"
+        izz="3.75465127391272E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_pad_joint"
+    type="fixed">
+    <origin
+      xyz="-5.2544E-05 0.027502 0.0054598"
+      rpy="-0.0051797 0 -5.2357E-05" />
+    <parent
+      link="left_middle_rubber_2" />
+    <child
+      link="left_middle_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_tip">
+    <inertial>
+      <origin
+        xyz="-0.000704283150912199 1.7201949642498E-08 -0.00102507469949608"
+        rpy="0 0 0" />
+      <mass
+        value="1.74735221647541E-05" />
+      <inertia
+        ixx="2.66254867244747E-11"
+        ixy="-8.56607522324162E-17"
+        ixz="-2.97431807749547E-12"
+        iyy="1.56734895823109E-11"
+        iyz="-1.96338363593241E-16"
+        izz="3.33104724852485E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_tip_joint"
+    type="fixed">
+    <origin
+      xyz="-2.1444E-05 0.034794 0.0022343"
+      rpy="0.021285 -1.101 -1.5898" />
+    <parent
+      link="left_middle_rubber_2" />
+    <child
+      link="left_middle_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_1">
+    <inertial>
+      <origin
+        xyz="0.000461494817524277 0.0116511737378697 -0.00589994851254613"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881225131736491" />
+      <inertia
+        ixx="1.4023609373404E-06"
+        ixy="-1.11035394965408E-07"
+        ixz="2.55480359890585E-13"
+        iyy="4.33624681540377E-07"
+        iyz="-7.77690276242677E-12"
+        izz="1.46958459945842E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.006387 0.13691"
+      rpy="1.5184 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_ring_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_ring_rubber_1">
+    <inertial>
+      <origin
+        xyz="3.97276237074085E-07 -0.000277764184339203 -0.00810761946354124"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100758613637168" />
+      <inertia
+        ixx="9.52792767085873E-08"
+        ixy="9.3671521036911E-13"
+        ixz="3.62426517818737E-13"
+        iyy="6.33418104503754E-08"
+        iyz="-1.10190419744933E-08"
+        izz="8.23832309611864E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0059"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_ring_1" />
+    <child
+      link="left_ring_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_2">
+    <inertial>
+      <origin
+        xyz="0.000846463894616276 0.0159699347053668 -0.00510109047393134"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925219955369937" />
+      <inertia
+        ixx="8.02593514012324E-07"
+        ixy="-2.71398953285731E-07"
+        ixz="3.22070489063026E-11"
+        iyy="2.63864681119925E-07"
+        iyz="6.01329936683976E-11"
+        izz="9.31327943786773E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_ring_1" />
+    <child
+      link="left_ring_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_ring_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_ring_rubber_2">
+    <inertial>
+      <origin
+        xyz="0.00104284546218292 0.0157830815140177 0.00127604090326092"
+        rpy="0 0 0" />
+      <mass
+        value="0.0011900510522096" />
+      <inertia
+        ixx="1.35418744149707E-07"
+        ixy="-7.15356862405758E-09"
+        ixz="-1.95071607592085E-09"
+        iyy="2.93921822376163E-08"
+        iyz="-2.9378722813243E-08"
+        izz="1.31791666226389E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0068534 0.012369 -0.0050852"
+      rpy="1.5708 1.5184 1.5708" />
+    <parent
+      link="left_ring_2" />
+    <child
+      link="left_ring_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_pad">
+    <inertial>
+      <origin
+        xyz="-4.94030643549692E-06 -0.00107358706632565 -0.000867313787048102"
+        rpy="0 0 0" />
+      <mass
+        value="1.74942858951091E-05" />
+      <inertia
+        ixx="1.97791820297692E-11"
+        ixy="-1.02094554854047E-14"
+        ixz="1.13379094195E-13"
+        iyy="2.49057330486905E-11"
+        iyz="-1.72170092059304E-12"
+        izz="3.956513413185E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_pad_joint"
+    type="fixed">
+    <origin
+      xyz="0.0015481 0.022862 0.0085106"
+      rpy="0.19325 0 -0.066635" />
+    <parent
+      link="left_ring_rubber_2" />
+    <child
+      link="left_ring_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856665327644918 1.70945193556093E-08 -0.00102183693569345"
+        rpy="0 0 0" />
+      <mass
+        value="1.72886814655676E-05" />
+      <inertia
+        ixx="2.56768444584749E-11"
+        ixy="-3.08326142677964E-16"
+        ixz="-2.20293053403915E-12"
+        iyy="1.54551255925788E-11"
+        iyz="-2.10809793762438E-16"
+        izz="3.38497407009298E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0.0020441 0.030612 0.0062864"
+      rpy="-0.010923 -1.0309 -1.627" />
+    <parent
+      link="left_ring_rubber_2" />
+    <child
+      link="left_ring_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_1">
+    <inertial>
+      <origin
+        xyz="0.000461475145814225 0.011651147716913 -0.00589994431843319"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881226910619359" />
+      <inertia
+        ixx="1.40236349914062E-06"
+        ixy="-1.1103737933177E-07"
+        ixz="9.26298240945681E-13"
+        iyy="4.33626325901594E-07"
+        iyz="-7.54482753315849E-12"
+        izz="1.46958855372561E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_little_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.025587 0.1357"
+      rpy="1.4661 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_little_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_little_rubber_1">
+    <inertial>
+      <origin
+        xyz="3.9661069733965E-07 -0.000277754419665203 -0.00810761540409644"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100758672179722" />
+      <inertia
+        ixx="9.52792831249349E-08"
+        ixy="9.76489467985872E-13"
+        ixz="3.40096311213686E-13"
+        iyy="6.33417927153541E-08"
+        iyz="-1.10190652424395E-08"
+        izz="8.23833299006405E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_little_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0059"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_little_1" />
+    <child
+      link="left_little_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_2">
+    <inertial>
+      <origin
+        xyz="-9.66953409735488E-05 0.0131703851115681 -0.0051009352074308"
+        rpy="0 0 0" />
+      <mass
+        value="0.0073597603922405" />
+      <inertia
+        ixx="4.52977984459269E-07"
+        ixy="-1.39937157845321E-07"
+        ixz="2.17043248135716E-11"
+        iyy="1.74899587515266E-07"
+        iyz="4.793455924041E-11"
+        izz="5.20964333649667E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_little_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_little_1" />
+    <child
+      link="left_little_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_little_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_little_rubber_2">
+    <inertial>
+      <origin
+        xyz="7.99800886075452E-08 0.0112749035859891 -0.000128893404753347"
+        rpy="0 0 0" />
+      <mass
+        value="0.000944677110750505" />
+      <inertia
+        ixx="7.27256998745925E-08"
+        ixy="8.79447839606861E-12"
+        ixz="-4.11179878788017E-13"
+        iyy="1.9751675428608E-08"
+        iyz="-1.31114374351836E-08"
+        izz="7.28078257130206E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_little_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0060598 0.012028 -0.0051"
+      rpy="3.1407 1.5701 3.1338" />
+    <parent
+      link="left_little_2" />
+    <child
+      link="left_little_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_pad">
+    <inertial>
+      <origin
+        xyz="4.26351731697139E-09 -0.000945394972293657 -0.000793541046852669"
+        rpy="0 0 0" />
+      <mass
+        value="1.46539353671065E-05" />
+      <inertia
+        ixx="1.40180735091283E-11"
+        ixy="1.6193464210242E-17"
+        ixz="1.17587638114339E-16"
+        iyy="2.05087141535222E-11"
+        iyz="-1.09095131218755E-12"
+        izz="3.10123565645623E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_little_pad_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.015811 0.0062245"
+      rpy="0.23432 -0.00072425 0" />
+    <parent
+      link="left_little_rubber_2" />
+    <child
+      link="left_little_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_tip">
+    <inertial>
+      <origin
+        xyz="-0.000679511004398545 -7.33584859524683E-09 -0.0009899693704125"
+        rpy="0 0 0" />
+      <mass
+        value="1.82383852219562E-05" />
+      <inertia
+        ixx="2.78570131965694E-11"
+        ixy="-6.23802723801218E-17"
+        ixz="-2.37868618847864E-12"
+        iyy="1.66773044526593E-11"
+        iyz="4.01471577678487E-17"
+        izz="3.57549531689912E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_little_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.023528 0.0036479"
+      rpy="0.0019559 -1.1915 -1.5726" />
+    <parent
+      link="left_little_rubber_2" />
+    <child
+      link="left_little_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="l_plam">
+    <inertial>
+      <origin
+        xyz="0.00487540843079473 -0.00792635358921371 0.000407295131145527"
+        rpy="0 0 0" />
+      <mass
+        value="0.0103867697224328" />
+      <inertia
+        ixx="4.32579238773537E-06"
+        ixy="1.82986381074143E-06"
+        ixz="-1.24431557170631E-07"
+        iyy="5.02135147678096E-06"
+        iyz="6.0880720395417E-07"
+        izz="9.01588192510949E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_plam.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_plam.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_plam_joint"
+    type="fixed">
+    <origin
+      xyz="0.014363 0.0044514 0.10148"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="l_plam" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_1">
+    <inertial>
+      <origin
+        xyz="0.000675346448543043 -0.00433551697891771 -0.00508780193489456"
+        rpy="0 0 0" />
+      <mass
+        value="0.0048541771537782" />
+      <inertia
+        ixx="1.96094051160198E-07"
+        ixy="3.4858314687744E-08"
+        ixz="-3.39249138133517E-09"
+        iyy="1.43278984955152E-07"
+        iyz="8.19838067662732E-09"
+        izz="1.68938152839344E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_1_joint"
+    type="revolute">
+    <origin
+      xyz="0.01696 -0.02045 0.0667"
+      rpy="0 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_thumb_1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.310384"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_2">
+    <inertial>
+      <origin
+        xyz="0.0217021678253001 0.0140075970723664 0.00802372797249212"
+        rpy="0 0 0" />
+      <mass
+        value="0.0314644827364552" />
+      <inertia
+        ixx="4.77086341809611E-06"
+        ixy="-2.24566024867355E-06"
+        ixz="1.95467941085415E-09"
+        iyy="5.25069497924692E-06"
+        iyz="-6.67201748128018E-10"
+        izz="9.41389275530489E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.010704 -0.0090376 -0.0065"
+      rpy="1.5708 0 -1.309" />
+    <parent
+      link="left_thumb_1" />
+    <child
+      link="left_thumb_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.523477"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.40162647625353E-05 0.00265236291170259 -0.00524128392726222"
+        rpy="0 0 0" />
+      <mass
+        value="0.0014906283411173" />
+      <inertia
+        ixx="1.88752644928606E-07"
+        ixy="-3.8026755003658E-11"
+        ixz="-3.8765284624088E-10"
+        iyy="8.68559982474995E-08"
+        iyz="3.72404130676969E-09"
+        izz="2.26622483357037E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.013047 0.031386 0.0079991"
+      rpy="3.1382 1.5604 -0.95011" />
+    <parent
+      link="left_thumb_2" />
+    <child
+      link="left_thumb_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_3">
+    <inertial>
+      <origin
+        xyz="0.00916392494072082 -0.000213746989467434 0.00749980580117554"
+        rpy="0 0 0" />
+      <mass
+        value="0.00637729293152042" />
+      <inertia
+        ixx="7.06808324923041E-07"
+        ixy="-1.80649444240681E-07"
+        ixz="-4.54605002004831E-12"
+        iyy="5.60096873247658E-07"
+        iyz="-6.4139500191323E-12"
+        izz="8.41963898391664E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_3.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_3_joint"
+    type="revolute">
+    <origin
+      xyz="0.041584 0.037508 0.0005"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_2" />
+    <child
+      link="left_thumb_3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.606844"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_thumb_2_joint"
+        multiplier="1.1425"
+        offset="0" />
+  </joint>
+  <link
+    name="left_thumb_rubber_2">
+    <inertial>
+      <origin
+        xyz="0.000162365997336933 -0.00288606632154562 -0.00905409083254546"
+        rpy="0 0 0" />
+      <mass
+        value="0.000712407776191055" />
+      <inertia
+        ixx="4.20918453267061E-08"
+        ixy="1.57340698262729E-10"
+        ixz="1.3516984445783E-10"
+        iyy="5.19680969543388E-08"
+        iyz="-8.47498354856299E-09"
+        izz="3.43794675555184E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.00507 0.011874 0.0075"
+      rpy="3.1416 1.5531 -1.0475" />
+    <parent
+      link="left_thumb_3" />
+    <child
+      link="left_thumb_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_4">
+    <inertial>
+      <origin
+        xyz="0.00556381842605763 0.00321786565136162 0.00598762078210308"
+        rpy="0 0 0" />
+      <mass
+        value="0.00250044545642775" />
+      <inertia
+        ixx="7.83011856485637E-08"
+        ixy="-4.7057697220776E-08"
+        ixz="-1.10925668134676E-10"
+        iyy="7.83149579014379E-08"
+        iyz="-2.74917415975889E-10"
+        izz="1.30863153598266E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_4_joint"
+    type="revolute">
+    <origin
+      xyz="0.018393 0.013222 0.0015"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_3" />
+    <child
+      link="left_thumb_4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.430866"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_thumb_3_joint"
+        multiplier="0.7508"
+        offset="0.1" />
+  </joint>
+  <link
+    name="left_thumb_rubber_3">
+    <inertial>
+      <origin
+        xyz="0.000268126145379105 -0.00224962169943535 -0.00745388764640809"
+        rpy="0 0 0" />
+      <mass
+        value="0.00232428792968957" />
+      <inertia
+        ixx="1.17389753346854E-07"
+        ixy="-2.01766145271162E-10"
+        ixz="-5.32341724071498E-12"
+        iyy="6.66695035665084E-08"
+        iyz="5.60795555686443E-09"
+        izz="1.17533665402913E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_3.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_rubber_3_joint"
+    type="fixed">
+    <origin
+      xyz="0.001618 0.009709 0.006"
+      rpy="3.1415 1.5348 -0.55813" />
+    <parent
+      link="left_thumb_4" />
+    <child
+      link="left_thumb_rubber_3" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_pad">
+    <inertial>
+      <origin
+        xyz="-3.37221102708618E-08 0.00163135155510163 -0.00128514999690035"
+        rpy="0 0 0" />
+      <mass
+        value="4.94551999339821E-05" />
+      <inertia
+        ixx="1.38213576910352E-10"
+        ixy="4.70832523459267E-16"
+        ixz="1.49104319677513E-15"
+        iyy="8.81925937138397E-11"
+        iyz="-2.69646775933514E-12"
+        izz="1.80759780259597E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_pad_joint"
+    type="fixed">
+    <origin
+      xyz="4.8581E-05 -0.007836 -0.0013499"
+      rpy="0.28005 -0.035991 -1.4391E-05" />
+    <parent
+      link="left_thumb_rubber_3" />
+    <child
+      link="left_thumb_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_tip">
+    <inertial>
+      <origin
+        xyz="2.50035524579084E-05 -0.00144636222857047 -0.00180325426020556"
+        rpy="0 0 0" />
+      <mass
+        value="6.08897929255959E-05" />
+      <inertia
+        ixx="1.79108473399612E-10"
+        ixy="4.05362271422044E-13"
+        ixz="-3.7128202926775E-13"
+        iyy="1.33990932373892E-10"
+        iyz="-2.89649540571285E-11"
+        izz="2.06216102977108E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0.00028944 -0.014777 -0.0080365"
+      rpy="1.3794 -0.03325 0.013534" />
+    <parent
+      link="left_thumb_rubber_3" />
+    <child
+      link="left_thumb_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+RH56DFX/urdf/Multi_UR5.urdf b/Robots_p/ur5+RH56DFX/urdf/Multi_UR5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa91c34018d9e90cc5d37e69a102127bbf990ad8
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/urdf/Multi_UR5.urdf
@@ -0,0 +1,795 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+
+    <joint name="distance_joint" type="fixed">
+      <origin xyz="0 1 0" rpy="0 0 0"/>
+      <parent link="base_link"/>
+      <child link="L_arm_base_link"/>
+    </joint>
+  
+  <link name="L_arm_base_link"/>
+  <link name="L_arm_base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="L_arm_shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="L_arm_upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="L_arm_forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="L_arm_base_link-L_arm_base_link_inertia" type="fixed">
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base_link_inertia"/>
+    <!-- 'L_arm_base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'L_arm_base_link' and 'L_arm_base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="L_arm_shoulder_pan_joint" type="revolute">
+    <parent link="L_arm_base_link_inertia"/>
+    <child link="L_arm_shoulder_link"/>
+    <origin rpy="0 0 3.14" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_shoulder_lift_joint" type="revolute">
+    <parent link="L_arm_shoulder_link"/>
+    <child link="L_arm_upper_arm_link"/>
+    <origin rpy="-1.570796327 0 3.14" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_elbow_joint" type="revolute">
+    <parent link="L_arm_upper_arm_link"/>
+    <child link="L_arm_forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_1_joint" type="revolute">
+    <parent link="L_arm_forearm_link"/>
+    <child link="L_arm_wrist_1_link"/>
+    <origin rpy="0 0 3.14" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_2_joint" type="revolute">
+    <parent link="L_arm_wrist_1_link"/>
+    <child link="L_arm_wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_3_joint" type="revolute">
+    <parent link="L_arm_wrist_2_link"/>
+    <child link="L_arm_wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - L_arm_base_link to UR 'Base' Coordinates transform -->
+  <link name="L_arm_base"/>
+  <joint name="L_arm_base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as L_arm_base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="L_arm_flange"/>
+  <joint name="L_arm_wrist_3-flange" type="fixed">
+    <parent link="L_arm_wrist_3_link"/>
+    <child link="L_arm_flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="L_arm_tool0"/>
+  <joint name="L_arm_flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="L_arm_flange"/>
+    <child link="L_arm_tool0"/>
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+RH56DFX/urdf/Multi_UR5_RH56DFX_with_flange.urdf b/Robots_p/ur5+RH56DFX/urdf/Multi_UR5_RH56DFX_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..899bedb48d86aa6c7427359083f378cbe21e712a
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/urdf/Multi_UR5_RH56DFX_with_flange.urdf
@@ -0,0 +1,5026 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+
+    <joint name="wrist3_to_r_base" type="fixed">
+      <origin xyz="0 0 0.010" rpy="0 0 1.57"/>
+      <parent link="wrist_3_link"/>
+      <child link="r_base_link"/>
+    </joint>
+
+  <link
+    name="r_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000268604455588448 -0.00156391576210077 0.0676650473313929"
+        rpy="0 0 0" />
+      <mass
+        value="0.44281138331417" />
+      <inertia
+        ixx="0.00032283748353732"
+        ixy="1.36447935341448E-06"
+        ixz="-1.95391053679767E-06"
+        iyy="0.000208330666586235"
+        iyz="1.17907186759775E-06"
+        izz="0.000184844103234342" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="r_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955455001528E-10 1.16584006337739E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425512" />
+      <inertia
+        ixx="5.79403393826274E-06"
+        ixy="-2.14169586327831E-14"
+        ixz="5.36313422038085E-14"
+        iyy="5.79403739954587E-06"
+        iyz="-1.74818936645495E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.00950000000000002"
+      rpy="0 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="r_flange" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_1">
+    <inertial>
+      <origin
+        xyz="0.000675361243917746 0.00433554414064958 -0.00508779581139576"
+        rpy="0 0 0" />
+      <mass
+        value="0.00485414527400046" />
+      <inertia
+        ixx="1.9609332795642E-07"
+        ixy="-3.48579868905759E-08"
+        ixz="-3.39216862091962E-09"
+        iyy="1.43278320785818E-07"
+        iyz="-8.19845149663524E-09"
+        izz="1.68937481009729E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_1_joint"
+    type="revolute">
+    <origin
+      xyz="0.01696 0.02045 0.0667"
+      rpy="0 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_thumb_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.310384"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_2">
+    <inertial>
+      <origin
+        xyz="-0.0217020597299479 0.0140073366342627 0.00802385606302948"
+        rpy="0 0 0" />
+      <mass
+        value="0.0314640304512208" />
+      <inertia
+        ixx="4.77080502994361E-06"
+        ixy="2.24565380203131E-06"
+        ixz="-1.93384802248301E-09"
+        iyy="5.25070317115698E-06"
+        iyz="-6.93473069420479E-10"
+        izz="9.41384151374767E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.010704 0.0090376 -0.0065"
+      rpy="1.5708 0 -1.8326" />
+    <parent
+      link="right_thumb_1" />
+    <child
+      link="right_thumb_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.523477"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_3">
+    <inertial>
+      <origin
+        xyz="-0.00916388835013882 -0.000213690008193874 0.00750028797357707"
+        rpy="0 0 0" />
+      <mass
+        value="0.00637737480667549" />
+      <inertia
+        ixx="7.06810039557757E-07"
+        ixy="1.80648211020393E-07"
+        ixz="-7.56321927667212E-12"
+        iyy="5.60101216986171E-07"
+        iyz="6.09546972729843E-12"
+        izz="8.41964957547647E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_3.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_3_joint"
+    type="revolute">
+    <origin
+      xyz="-0.041584 0.037508 0.0005"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_2" />
+    <child
+      link="right_thumb_3" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.606844"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_thumb_2_joint"
+        multiplier="1.1425"
+        offset="0" />
+  </joint>
+  <link
+    name="right_thumb_4">
+    <inertial>
+      <origin
+        xyz="-0.00556381960339052 0.00321786469032558 0.00598762142813954"
+        rpy="0 0 0" />
+      <mass
+        value="0.0025004461294059" />
+      <inertia
+        ixx="7.83011892756105E-08"
+        ixy="4.70576750033798E-08"
+        ixz="1.10924492038402E-10"
+        iyy="7.83149658560793E-08"
+        iyz="-2.74907781669826E-10"
+        izz="1.30863162691476E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_4_joint"
+    type="revolute">
+    <origin
+      xyz="-0.018393 0.013222 0.0015"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_3" />
+    <child
+      link="right_thumb_4" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.430866"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_thumb_3_joint"
+        multiplier="0.7508"
+        offset="0.1" />
+  </joint>
+  <link
+    name="right_thumb_rubber_3">
+    <inertial>
+      <origin
+        xyz="0.000133677754111619 0.00249789544313434 -0.00737807315210834"
+        rpy="0 0 0" />
+      <mass
+        value="0.00232428277409971" />
+      <inertia
+        ixx="1.1738940345995E-07"
+        ixy="1.33164031093727E-10"
+        ixz="5.42230494538498E-12"
+        iyy="6.71016287130116E-08"
+        iyz="-7.29911404958279E-09"
+        izz="1.17101548394252E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_3.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_rubber_3_joint"
+    type="fixed">
+    <origin
+      xyz="-0.001618 0.009709 0.006"
+      rpy="-3.1415 1.5526 -2.5499" />
+    <parent
+      link="right_thumb_4" />
+    <child
+      link="right_thumb_rubber_3" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_pad">
+    <inertial>
+      <origin
+        xyz="-3.17863613624736E-08 -0.00152836456065816 -0.0014060654960278"
+        rpy="0 0 0" />
+      <mass
+        value="0.000138969107299723" />
+      <inertia
+        ixx="3.88380090334865E-10"
+        ixy="-2.2040272967494E-15"
+        ixz="3.72337458984265E-15"
+        iyy="2.48185589616352E-10"
+        iyz="-1.23321553256561E-11"
+        izz="5.07570387988192E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_pad_joint"
+    type="fixed">
+    <origin
+      xyz="1.97306155155508E-05 0.00787683873056354 -0.00108764909180575"
+      rpy="-0.32308105919377 -0.0181645215163438 1.44824432616579E-05" />
+    <parent
+      link="right_thumb_rubber_3" />
+    <child
+      link="right_thumb_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_tip">
+    <inertial>
+      <origin
+        xyz="-2.47505902372935E-05 0.00144636195662112 -0.00180325741638071"
+        rpy="0 0 0" />
+      <mass
+        value="0.00017110035356973" />
+      <inertia
+        ixx="5.03295308586156E-10"
+        ixy="1.1038459890022E-12"
+        ixz="1.06224755236763E-12"
+        iyy="3.76514497106408E-10"
+        iyz="8.13921166925614E-11"
+        izz="5.79466758416002E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0.000137071096497604 0.0150376112085459 -0.00754156328997224"
+      rpy="-1.34664653486349 -0.0211118546108423 0.0134662732683287" />
+    <parent
+      link="right_thumb_rubber_3" />
+    <child
+      link="right_thumb_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_rubber_2">
+    <inertial>
+      <origin
+        xyz="0.000157140889199783 0.00288556596888331 -0.00905406193357969"
+        rpy="0 0 0" />
+      <mass
+        value="0.000712293475130305" />
+      <inertia
+        ixx="4.2089130115591E-08"
+        ixy="-1.40469831307445E-10"
+        ixz="1.37381961636698E-10"
+        iyy="5.19654488817118E-08"
+        iyz="8.47531049325099E-09"
+        izz="3.43756130398348E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="-0.00507 0.011874 0.0075"
+      rpy="-3.1416 1.5531 -2.094" />
+    <parent
+      link="right_thumb_3" />
+    <child
+      link="right_thumb_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.25123796278198E-05 -0.00265158184532596 -0.00524156527611314"
+        rpy="0 0 0" />
+      <mass
+        value="0.00149071340727244" />
+      <inertia
+        ixx="1.88775194707542E-07"
+        ixy="6.69255450794997E-11"
+        ixz="-4.00394969226036E-10"
+        iyy="8.68614474046453E-08"
+        iyz="-3.72017830861924E-09"
+        izz="2.26648080388043E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="-0.013047 0.031386 0.0079991"
+      rpy="-3.1382 1.5604 -2.1915" />
+    <parent
+      link="right_thumb_2" />
+    <child
+      link="right_thumb_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_1">
+    <inertial>
+      <origin
+        xyz="0.000461509522881251 0.0116512167073588 0.00590005205650069"
+        rpy="0 0 0" />
+      <mass
+        value="0.0088122715051036" />
+      <inertia
+        ixx="1.40236362118852E-06"
+        ixy="-1.11033984168461E-07"
+        ixz="-3.45534140604099E-13"
+        iyy="4.33624497078647E-07"
+        iyz="-8.02588111503433E-12"
+        izz="1.46958690770039E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.032168 0.13653"
+      rpy="1.5359 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_index_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_rubber_1">
+    <inertial>
+      <origin
+        xyz="4.12805956806483E-07 -0.000277556595871697 -0.00810725944560028"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100751145071282" />
+      <inertia
+        ixx="9.52705542669085E-08"
+        ixy="-6.53021203153016E-13"
+        ixz="2.06718585520476E-12"
+        iyy="6.33360703776505E-08"
+        iyz="-1.10143899913928E-08"
+        izz="8.2378637909334E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_index_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0058991"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_index_1" />
+    <child
+      link="right_index_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_2">
+    <inertial>
+      <origin
+        xyz="0.000846426534759137 0.0159697001083362 0.00510099034129251"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925229796570667" />
+      <inertia
+        ixx="8.02619712389298E-07"
+        ixy="-2.71403950553563E-07"
+        ixz="-3.30964974651296E-11"
+        iyy="2.63871633501356E-07"
+        iyz="-7.26892151274215E-11"
+        izz="9.31350792104698E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_index_1" />
+    <child
+      link="right_index_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_index_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_index_rubber_2">
+    <inertial>
+      <origin
+        xyz="-3.58356273424953E-06 0.0158538079871463 -0.000683080888343193"
+        rpy="0 0 0" />
+      <mass
+        value="0.00119003328901229" />
+      <inertia
+        ixx="1.35901045730651E-07"
+        ixy="-8.22113597047336E-11"
+        ixz="8.26751437859069E-12"
+        iyy="2.32704344501304E-08"
+        iyz="-1.5965157571134E-08"
+        izz="1.37434601512647E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0070147 0.012486 0.0050557"
+      rpy="1.6908 1.5638 1.5708" />
+    <parent
+      link="right_index_2" />
+    <child
+      link="right_index_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_pad">
+    <inertial>
+      <origin
+        xyz="-4.72675732283989E-06 -0.00107358726165793 -0.000867322927155814"
+        rpy="0 0 0" />
+      <mass
+        value="4.91580635340277E-05" />
+      <inertia
+        ixx="5.5578818727044E-11"
+        ixy="-2.56095658110701E-14"
+        ixz="3.01618774673413E-13"
+        iyy="6.99839853074953E-11"
+        iyz="-4.83794966411374E-12"
+        izz="1.11177015808293E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_index_pad_joint"
+    type="fixed">
+    <origin
+      xyz="3.00243817556722E-05 0.0237882080122733 0.00562165601406409"
+      rpy="0.0696904105640824 -4.36438134320539E-05 -0.000362025901862688" />
+    <parent
+      link="right_index_rubber_2" />
+    <child
+      link="right_index_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856665440566062 1.72386023511439E-08 -0.00102183804462784"
+        rpy="0 0 0" />
+      <mass
+        value="4.8581150755806E-05" />
+      <inertia
+        ixx="7.21518593802518E-11"
+        ixy="-8.82984500824386E-16"
+        ixz="-6.19021389144841E-12"
+        iyy="4.34288558152482E-11"
+        iyz="-6.09787415609971E-16"
+        izz="9.51176981115546E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_tip_joint"
+    type="fixed">
+    <origin
+      xyz="1.3021716642192E-05 0.0312210274719888 0.00245735122593096"
+      rpy="-0.0132578490113875 -1.15442763241846 -1.55866618437752" />
+    <parent
+      link="right_index_rubber_2" />
+    <child
+      link="right_index_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_1">
+    <inertial>
+      <origin
+        xyz="0.000461536885984493 0.0116516125222251 0.00589995181961714"
+        rpy="0 0 0" />
+      <mass
+        value="0.008812009704949" />
+      <inertia
+        ixx="1.40231746759186E-06"
+        ixy="-1.11031857346658E-07"
+        ixz="2.76776871415406E-13"
+        iyy="4.3361687442049E-07"
+        iyz="-2.06120095699905E-11"
+        izz="1.46953912178466E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.01285 0.1371"
+      rpy="1.5708 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_middle_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.03351059822493E-07 -0.000277151585263605 -0.00810672582334755"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100745318455656" />
+      <inertia
+        ixx="9.5260411594105E-08"
+        ixy="-6.69431445254942E-14"
+        ixz="2.63670575694768E-12"
+        iyy="6.33300913372493E-08"
+        iyz="-1.10094870847211E-08"
+        izz="8.23746545988052E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_middle_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0059"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_middle_1" />
+    <child
+      link="right_middle_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_2">
+    <inertial>
+      <origin
+        xyz="0.00141024346448289 0.0172292690724932 0.00510100142947595"
+        rpy="0 0 0" />
+      <mass
+        value="0.0100500190545245" />
+      <inertia
+        ixx="1.00699767773869E-06"
+        ixy="-3.53466950101424E-07"
+        ixz="-4.09738501779845E-11"
+        iyy="3.12317850665907E-07"
+        iyz="-8.97245492379795E-11"
+        izz="1.17274745258556E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_middle_1" />
+    <child
+      link="right_middle_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_middle_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_middle_rubber_2">
+    <inertial>
+      <origin
+        xyz="-7.78660795392946E-06 0.0179695960463814 -0.000804223911115579"
+        rpy="0 0 0" />
+      <mass
+        value="0.0013048811432833" />
+      <inertia
+        ixx="1.76860633231279E-07"
+        ixy="-1.72710567602084E-10"
+        ixz="1.86622775329523E-11"
+        iyy="2.52989855308437E-08"
+        iyz="-1.81372167935848E-08"
+        izz="1.78751424236927E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_middle_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0072845 0.012518 0.0050018"
+      rpy="1.7195 1.5657 1.5708" />
+    <parent
+      link="right_middle_2" />
+    <child
+      link="right_middle_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_pad">
+    <inertial>
+      <origin
+        xyz="-9.14565195887437E-06 -0.000840646466128969 -0.000949483924762157"
+        rpy="0 0 0" />
+      <mass
+        value="5.07972430810532E-05" />
+      <inertia
+        ixx="4.94396351444529E-11"
+        ixy="-7.91548004686604E-15"
+        ixz="5.40378231833977E-13"
+        iyy="7.44594898392844E-11"
+        iyz="-8.17507834331293E-13"
+        izz="1.05507123106656E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_middle_pad_joint"
+    type="fixed">
+    <origin
+      xyz="5.25438080711468E-05 0.0275018148385101 0.00545981715229053"
+      rpy="-0.00517966246514453 0 5.23567777294042E-05" />
+    <parent
+      link="right_middle_rubber_2" />
+    <child
+      link="right_middle_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_tip">
+    <inertial>
+      <origin
+        xyz="-0.000704283128653865 1.67839236536738E-08 -0.00102507470098162"
+        rpy="0 0 0" />
+      <mass
+        value="4.91005965538781E-05" />
+      <inertia
+        ixx="7.4817666907452E-11"
+        ixy="-2.50173118998556E-16"
+        ixz="-8.35780307730688E-12"
+        iyy="4.40425756472355E-11"
+        iyz="-5.5138528291299E-16"
+        izz="9.36024416007487E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_tip_joint"
+    type="fixed">
+    <origin
+      xyz="2.14438757245201E-05 0.0347938058137771 0.00223431434988275"
+      rpy="-0.0212852224193426 -1.10096720678329 -1.55181437467009" />
+    <parent
+      link="right_middle_rubber_2" />
+    <child
+      link="right_middle_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_1">
+    <inertial>
+      <origin
+        xyz="0.000461529808951755 0.0116516281013052 0.00589997080611728"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881199089266141" />
+      <inertia
+        ixx="1.40231626030129E-06"
+        ixy="-1.11031417680307E-07"
+        ixz="-4.11132319980449E-13"
+        iyy="4.33615995682151E-07"
+        iyz="-1.87827283697014E-11"
+        izz="1.46953842944211E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.006387 0.13691"
+      rpy="1.6232 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_ring_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_ring_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.21559770035084E-07 -0.00027711873325572 -0.00810658713183561"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100744692221204" />
+      <inertia
+        ixx="9.52590748325436E-08"
+        ixy="3.14419307320589E-13"
+        ixz="2.58919901199866E-12"
+        iyy="6.33292870038947E-08"
+        iyz="-1.10085765951351E-08"
+        izz="8.23741747990365E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_ring_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0059"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_ring_1" />
+    <child
+      link="right_ring_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_2">
+    <inertial>
+      <origin
+        xyz="0.000846433960369861 0.0159697337276641 0.00510097835693506"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925228640460226" />
+      <inertia
+        ixx="8.02618879630184E-07"
+        ixy="-2.71404191071111E-07"
+        ixz="-3.36930516321696E-11"
+        iyy="2.63871764022255E-07"
+        iyz="-7.22696351064651E-11"
+        izz="9.31349226423688E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_ring_1" />
+    <child
+      link="right_ring_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_ring_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_ring_rubber_2">
+    <inertial>
+      <origin
+        xyz="3.86139388208794E-06 0.0158537656121268 -0.000683069774846418"
+        rpy="0 0 0" />
+      <mass
+        value="0.00119005024637797" />
+      <inertia
+        ixx="1.3590239064115E-07"
+        ixy="9.33554288461355E-11"
+        ixz="-8.65081377481482E-12"
+        iyy="2.32706293689469E-08"
+        iyz="-1.59652938631654E-08"
+        izz="1.37436006921243E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_ring_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.00685339412965266 0.0123693480371164 0.0050852021440689"
+      rpy="1.69435491572921 1.55693797492977 1.5707963267949" />
+    <parent
+      link="right_ring_2" />
+    <child
+      link="right_ring_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_pad">
+    <inertial>
+      <origin
+        xyz="4.93671885636732E-06 -0.00107358739426554 -0.000867321750761263"
+        rpy="0 0 0" />
+      <mass
+        value="4.91580616058684E-05" />
+      <inertia
+        ixx="5.55789971203642E-11"
+        ixy="2.82945412870402E-14"
+        ixz="-3.17865063864845E-13"
+        iyy="6.99839909074725E-11"
+        iyz="-4.83793120453107E-12"
+        izz="1.11176836090907E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_ring_pad_joint"
+    type="fixed">
+    <origin
+      xyz="-3.19252405448149E-05 0.023788208012268 0.0056216455404758"
+      rpy="0.069690128142456 5.13938714334209E-05 0.000413828517329857" />
+    <parent
+      link="right_ring_rubber_2" />
+    <child
+      link="right_ring_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856664915059729 1.84558855672104E-08 -0.00102183703604269"
+        rpy="0 0 0" />
+      <mass
+        value="4.85811800950388E-05" />
+      <inertia
+        ixx="7.21518845124189E-11"
+        ixy="-9.06674000673522E-16"
+        ixz="-6.19024133610583E-12"
+        iyy="4.3428909706311E-11"
+        iyz="-6.22904562534474E-16"
+        izz="9.5117698350311E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_tip_joint"
+    type="fixed">
+    <origin
+      xyz="-1.40578386722194E-05 0.031221027471983 0.00245734551696726"
+      rpy="0.0139894535346192 -1.15442399923571 -1.58358580818303" />
+    <parent
+      link="right_ring_rubber_2" />
+    <child
+      link="right_ring_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_1">
+    <inertial>
+      <origin
+        xyz="0.000461535865007925 0.0116516313664518 0.00589997438900475"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881199742105397" />
+      <inertia
+        ixx="1.4023164476314E-06"
+        ixy="-1.11031114078783E-07"
+        ixz="-6.64626469397567E-13"
+        iyy="4.33616376571531E-07"
+        iyz="-1.83961469266843E-11"
+        izz="1.46953909500208E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.025587 0.1357"
+      rpy="1.6755 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_little_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_little_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.20179807662197E-07 -0.000277124687351721 -0.00810660245069689"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100745340016915" />
+      <inertia
+        ixx="9.5259604318723E-08"
+        ixy="2.51290768845785E-13"
+        ixz="2.57994342884682E-12"
+        iyy="6.33296342901818E-08"
+        iyz="-1.10088384074955E-08"
+        izz="8.23744454855254E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_little_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0059"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_little_1" />
+    <child
+      link="right_little_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_2">
+    <inertial>
+      <origin
+        xyz="-9.65934753168612E-05 0.0131706385669229 0.00510089546104599"
+        rpy="0 0 0" />
+      <mass
+        value="0.00735975645438558" />
+      <inertia
+        ixx="4.52987650882817E-07"
+        ixy="-1.39947116144588E-07"
+        ixz="-1.99302269280599E-11"
+        iyy="1.74903368778748E-07"
+        iyz="-4.32909879787788E-11"
+        izz="5.20977818958806E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_little_1" />
+    <child
+      link="right_little_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_little_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_little_rubber_2">
+    <inertial>
+      <origin
+        xyz="1.62425876137906E-07 0.0112748945844156 -0.000128890409676133"
+        rpy="0 0 0" />
+      <mass
+        value="0.000944695125035103" />
+      <inertia
+        ixx="7.2727499654919E-08"
+        ixy="5.77567509581988E-13"
+        ixz="3.35299338499586E-13"
+        iyy="1.97518492029983E-08"
+        iyz="-1.31116172495388E-08"
+        izz="7.2809424232253E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_little_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0060598 0.012028 0.0051"
+      rpy="-1.5639 1.5708 -1.5708" />
+    <parent
+      link="right_little_2" />
+    <child
+      link="right_little_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_pad">
+    <inertial>
+      <origin
+        xyz="1.18945155044847E-08 -0.000945393602624786 -0.000793542159615274"
+        rpy="0 0 0" />
+      <mass
+        value="4.11773981011346E-05" />
+      <inertia
+        ixx="3.93905948672135E-11"
+        ixy="-7.32805647857825E-16"
+        ixz="1.2637926765438E-16"
+        iyy="5.76290636184782E-11"
+        iyz="-3.06558460120779E-12"
+        izz="8.71440947947964E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_little_pad_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.0158106591438756 0.00622450938719539"
+      rpy="0.234319161981939 0 0" />
+    <parent
+      link="right_little_rubber_2" />
+    <child
+      link="right_little_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_tip">
+    <inertial>
+      <origin
+        xyz="-0.000679510924646992 -6.02486744175068E-09 -0.000989969384403724"
+        rpy="0 0 0" />
+      <mass
+        value="5.12498578797036E-05" />
+      <inertia
+        ixx="7.82782292969908E-11"
+        ixy="-1.7772592370017E-16"
+        ixz="-6.68409720589241E-12"
+        iyy="4.68632553260876E-11"
+        iyz="4.12841427346065E-17"
+        izz="1.00471412022202E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.0235281291193636 0.00364793083244132"
+      rpy="0 -1.19148502417136 -1.57079698453249" />
+    <parent
+      link="right_little_rubber_2" />
+    <child
+      link="right_little_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="plam">
+    <inertial>
+      <origin
+        xyz="-0.00487476115291697 -0.00792590594988131 0.000407287403626957"
+        rpy="0 0 0" />
+      <mass
+        value="0.0103872606312152" />
+      <inertia
+        ixx="4.32573922871556E-06"
+        ixy="-1.82977028647607E-06"
+        ixz="1.24432802967265E-07"
+        iyy="5.02164658586136E-06"
+        iyz="6.08810899531559E-07"
+        izz="9.01614152193276E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/plam.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/plam.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="plam_joint"
+    type="fixed">
+    <origin
+      xyz="0.014363 -0.0044514 0.10148"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="plam" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+
+
+
+    <joint name="distance_joint" type="fixed">
+      <origin xyz="0 1 0" rpy="0 0 0"/>
+      <parent link="base_link"/>
+      <child link="L_arm_base_link"/>
+    </joint>
+  
+  <link name="L_arm_base_link"/>
+  <link name="L_arm_base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="L_arm_shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="L_arm_upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="L_arm_forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="L_arm_base_link-L_arm_base_link_inertia" type="fixed">
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base_link_inertia"/>
+    <!-- 'L_arm_base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'L_arm_base_link' and 'L_arm_base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="L_arm_shoulder_pan_joint" type="revolute">
+    <parent link="L_arm_base_link_inertia"/>
+    <child link="L_arm_shoulder_link"/>
+    <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_shoulder_lift_joint" type="revolute">
+    <parent link="L_arm_shoulder_link"/>
+    <child link="L_arm_upper_arm_link"/>
+    <origin rpy="-1.570796327 0 3.14" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_elbow_joint" type="revolute">
+    <parent link="L_arm_upper_arm_link"/>
+    <child link="L_arm_forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_1_joint" type="revolute">
+    <parent link="L_arm_forearm_link"/>
+    <child link="L_arm_wrist_1_link"/>
+    <origin rpy="0 0 3.14" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_2_joint" type="revolute">
+    <parent link="L_arm_wrist_1_link"/>
+    <child link="L_arm_wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_3_joint" type="revolute">
+    <parent link="L_arm_wrist_2_link"/>
+    <child link="L_arm_wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - L_arm_base_link to UR 'Base' Coordinates transform -->
+  <link name="L_arm_base"/>
+  <joint name="L_arm_base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as L_arm_base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="L_arm_flange"/>
+  <joint name="L_arm_wrist_3-flange" type="fixed">
+    <parent link="L_arm_wrist_3_link"/>
+    <child link="L_arm_flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="L_arm_tool0"/>
+  <joint name="L_arm_flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="L_arm_flange"/>
+    <child link="L_arm_tool0"/>
+  </joint>
+  
+    <joint name="wrist3_to_l_base" type="fixed">
+      <origin xyz="0 0 0.010" rpy="0 0 1.57"/>
+      <parent link="L_arm_wrist_3_link"/>
+      <child link="l_base_link"/>
+    </joint>
+    
+  <link
+    name="l_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000268668674108991 0.0015636026908947 0.0676652785627349"
+        rpy="0 0 0" />
+      <mass
+        value="0.442813527981768" />
+      <inertia
+        ixx="0.000322835112427508"
+        ixy="-1.36479279308734E-06"
+        ixz="-1.95509333888133E-06"
+        iyy="0.000208328788663727"
+        iyz="-1.18056690447212E-06"
+        izz="0.000184844276743646" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="l_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955482757104E-10 1.16584020215527E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425511" />
+      <inertia
+        ixx="5.79403393826273E-06"
+        ixy="-2.14169580494357E-14"
+        ixz="5.36313442288001E-14"
+        iyy="5.79403739954585E-06"
+        iyz="-1.74818942913611E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.00950000000000002"
+      rpy="0 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="l_flange" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_1">
+    <inertial>
+      <origin
+        xyz="0.000461541435806748 0.0116515999092918 -0.00590003371767778"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881197798488192" />
+      <inertia
+        ixx="1.40231256514907E-06"
+        ixy="-1.11031049765784E-07"
+        ixz="-1.50176863585873E-13"
+        iyy="4.33616279511412E-07"
+        iyz="-1.88748416819907E-11"
+        izz="1.46953546409383E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.032168 0.13653"
+      rpy="1.6057 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_index_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_rubber_1">
+    <inertial>
+      <origin
+        xyz="4.68277174120457E-07 -0.000277303856020789 -0.00810702693776179"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100751026337751" />
+      <inertia
+        ixx="9.52671501444302E-08"
+        ixy="1.84036325900436E-12"
+        ixz="1.13718347017134E-12"
+        iyy="6.33345321582835E-08"
+        iyz="-1.10134831421706E-08"
+        izz="8.23781987482187E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_index_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0058991"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_index_1" />
+    <child
+      link="left_index_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_2">
+    <inertial>
+      <origin
+        xyz="0.000846459676133157 0.0159699536063371 -0.00510110719069301"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925219566437243" />
+      <inertia
+        ixx="8.02591954199889E-07"
+        ixy="-2.71399260329327E-07"
+        ixz="3.18046037103459E-11"
+        iyy="2.63864748341419E-07"
+        iyz="6.03616925212557E-11"
+        izz="9.31327037342977E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_index_1" />
+    <child
+      link="left_index_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_index_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_index_rubber_2">
+    <inertial>
+      <origin
+        xyz="3.71014377972823E-06 0.0158540066839677 -0.000683115137425958"
+        rpy="0 0 0" />
+      <mass
+        value="0.00119004560800986" />
+      <inertia
+        ixx="1.35899798757468E-07"
+        ixy="8.50258176038262E-11"
+        ixz="-8.30283954597281E-12"
+        iyy="2.32721303061557E-08"
+        iyz="-1.59661991933365E-08"
+        izz="1.37431891967755E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_rubber_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0070147 0.012486 -0.0050557"
+      rpy="-1.4508 1.5638 -1.5708" />
+    <parent
+      link="left_index_2" />
+    <child
+      link="left_index_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_pad">
+    <inertial>
+      <origin
+        xyz="4.72282110058897E-06 -0.00107358686744947 -0.000867315001026159"
+        rpy="0 0 0" />
+      <mass
+        value="1.74942869080946E-05" />
+      <inertia
+        ixx="1.97791136671661E-11"
+        ixy="8.97449012100217E-15"
+        ixz="-1.07077919025427E-13"
+        iyy="2.4905734214284E-11"
+        iyz="-1.72170853830108E-12"
+        izz="3.95652071926162E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_index_pad_joint"
+    type="fixed">
+    <origin
+      xyz="-3.0024E-05 0.023788 0.0056217"
+      rpy="0.06969 4.3644E-05 0.00036203" />
+    <parent
+      link="left_index_rubber_2" />
+    <child
+      link="left_index_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856665300146248 1.89922067794779E-08 -0.00102183808192999"
+        rpy="0 0 0" />
+      <mass
+        value="1.72886638937717E-05" />
+      <inertia
+        ixx="2.56768040770671E-11"
+        ixy="-3.18365589820315E-16"
+        ixz="-2.20292569548206E-12"
+        iyy="1.54551010736424E-11"
+        iyz="-2.29614533759763E-16"
+        izz="3.38497054068354E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_tip_joint"
+    type="fixed">
+    <origin
+      xyz="-1.3022E-05 0.031221 0.0024574"
+      rpy="0.013258 -1.1544 -1.5829" />
+    <parent
+      link="left_index_rubber_2" />
+    <child
+      link="left_index_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_1">
+    <inertial>
+      <origin
+        xyz="0.000461541629691434 0.0116515965600647 -0.00590004767005833"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881199030020868" />
+      <inertia
+        ixx="1.402314881009E-06"
+        ixy="-1.1103177744641E-07"
+        ixz="2.87006958572461E-13"
+        iyy="4.33616449238026E-07"
+        iyz="-2.06974793533729E-11"
+        izz="1.46953643689907E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.01285 0.1371"
+      rpy="1.5708 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_middle_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_rubber_1">
+    <inertial>
+      <origin
+        xyz="3.76242707489371E-07 -0.000277324370050402 -0.00810714899813504"
+        rpy="0 0 0" />
+      <mass
+        value="0.0010075153682363" />
+      <inertia
+        ixx="9.52684580421518E-08"
+        ixy="1.33553156016871E-12"
+        ixz="1.042819671443E-12"
+        iyy="6.33352914158103E-08"
+        iyz="-1.10143468396073E-08"
+        izz="8.23787642940307E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0059"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_middle_1" />
+    <child
+      link="left_middle_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_2">
+    <inertial>
+      <origin
+        xyz="0.00141025127204816 0.0172293351814034 -0.0051009418470411"
+        rpy="0 0 0" />
+      <mass
+        value="0.0100501383248898" />
+      <inertia
+        ixx="1.00700764221843E-06"
+        ixy="-3.53465655492272E-07"
+        ixz="3.99940302421788E-11"
+        iyy="3.12319057843603E-07"
+        iyz="9.53011587542506E-11"
+        izz="1.17275755016607E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_middle_1" />
+    <child
+      link="left_middle_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_middle_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_middle_rubber_2">
+    <inertial>
+      <origin
+        xyz="7.7280108489175E-06 0.0179695904606754 -0.000804044743343377"
+        rpy="0 0 0" />
+      <mass
+        value="0.00130495514940863" />
+      <inertia
+        ixx="1.76870136972793E-07"
+        ixy="1.74860270573956E-10"
+        ixz="-1.8349295119375E-11"
+        iyy="2.53005759725666E-08"
+        iyz="-1.81404682177571E-08"
+        izz="1.7876054155983E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0072845 0.012518 -0.0050018"
+      rpy="-1.4221 1.5657 -1.5708" />
+    <parent
+      link="left_middle_2" />
+    <child
+      link="left_middle_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_pad">
+    <inertial>
+      <origin
+        xyz="9.151649575323E-06 -0.000840645806262336 -0.000949482426872789"
+        rpy="0 0 0" />
+      <mass
+        value="1.80772540251388E-05" />
+      <inertia
+        ixx="1.75941754992311E-11"
+        ixy="2.77833025016137E-15"
+        ixz="-1.92244046682768E-13"
+        iyy="2.64975629801485E-11"
+        iyz="-2.90926190882174E-13"
+        izz="3.75465127391272E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_pad_joint"
+    type="fixed">
+    <origin
+      xyz="-5.2544E-05 0.027502 0.0054598"
+      rpy="-0.0051797 0 -5.2357E-05" />
+    <parent
+      link="left_middle_rubber_2" />
+    <child
+      link="left_middle_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_tip">
+    <inertial>
+      <origin
+        xyz="-0.000704283150912199 1.7201949642498E-08 -0.00102507469949608"
+        rpy="0 0 0" />
+      <mass
+        value="1.74735221647541E-05" />
+      <inertia
+        ixx="2.66254867244747E-11"
+        ixy="-8.56607522324162E-17"
+        ixz="-2.97431807749547E-12"
+        iyy="1.56734895823109E-11"
+        iyz="-1.96338363593241E-16"
+        izz="3.33104724852485E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_tip_joint"
+    type="fixed">
+    <origin
+      xyz="-2.1444E-05 0.034794 0.0022343"
+      rpy="0.021285 -1.101 -1.5898" />
+    <parent
+      link="left_middle_rubber_2" />
+    <child
+      link="left_middle_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_1">
+    <inertial>
+      <origin
+        xyz="0.000461494817524277 0.0116511737378697 -0.00589994851254613"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881225131736491" />
+      <inertia
+        ixx="1.4023609373404E-06"
+        ixy="-1.11035394965408E-07"
+        ixz="2.55480359890585E-13"
+        iyy="4.33624681540377E-07"
+        iyz="-7.77690276242677E-12"
+        izz="1.46958459945842E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.006387 0.13691"
+      rpy="1.5184 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_ring_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_ring_rubber_1">
+    <inertial>
+      <origin
+        xyz="3.97276237074085E-07 -0.000277764184339203 -0.00810761946354124"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100758613637168" />
+      <inertia
+        ixx="9.52792767085873E-08"
+        ixy="9.3671521036911E-13"
+        ixz="3.62426517818737E-13"
+        iyy="6.33418104503754E-08"
+        iyz="-1.10190419744933E-08"
+        izz="8.23832309611864E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0059"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_ring_1" />
+    <child
+      link="left_ring_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_2">
+    <inertial>
+      <origin
+        xyz="0.000846463894616276 0.0159699347053668 -0.00510109047393134"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925219955369937" />
+      <inertia
+        ixx="8.02593514012324E-07"
+        ixy="-2.71398953285731E-07"
+        ixz="3.22070489063026E-11"
+        iyy="2.63864681119925E-07"
+        iyz="6.01329936683976E-11"
+        izz="9.31327943786773E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_ring_1" />
+    <child
+      link="left_ring_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_ring_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_ring_rubber_2">
+    <inertial>
+      <origin
+        xyz="0.00104284546218292 0.0157830815140177 0.00127604090326092"
+        rpy="0 0 0" />
+      <mass
+        value="0.0011900510522096" />
+      <inertia
+        ixx="1.35418744149707E-07"
+        ixy="-7.15356862405758E-09"
+        ixz="-1.95071607592085E-09"
+        iyy="2.93921822376163E-08"
+        iyz="-2.9378722813243E-08"
+        izz="1.31791666226389E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0068534 0.012369 -0.0050852"
+      rpy="1.5708 1.5184 1.5708" />
+    <parent
+      link="left_ring_2" />
+    <child
+      link="left_ring_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_pad">
+    <inertial>
+      <origin
+        xyz="-4.94030643549692E-06 -0.00107358706632565 -0.000867313787048102"
+        rpy="0 0 0" />
+      <mass
+        value="1.74942858951091E-05" />
+      <inertia
+        ixx="1.97791820297692E-11"
+        ixy="-1.02094554854047E-14"
+        ixz="1.13379094195E-13"
+        iyy="2.49057330486905E-11"
+        iyz="-1.72170092059304E-12"
+        izz="3.956513413185E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_pad_joint"
+    type="fixed">
+    <origin
+      xyz="0.0015481 0.022862 0.0085106"
+      rpy="0.19325 0 -0.066635" />
+    <parent
+      link="left_ring_rubber_2" />
+    <child
+      link="left_ring_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856665327644918 1.70945193556093E-08 -0.00102183693569345"
+        rpy="0 0 0" />
+      <mass
+        value="1.72886814655676E-05" />
+      <inertia
+        ixx="2.56768444584749E-11"
+        ixy="-3.08326142677964E-16"
+        ixz="-2.20293053403915E-12"
+        iyy="1.54551255925788E-11"
+        iyz="-2.10809793762438E-16"
+        izz="3.38497407009298E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0.0020441 0.030612 0.0062864"
+      rpy="-0.010923 -1.0309 -1.627" />
+    <parent
+      link="left_ring_rubber_2" />
+    <child
+      link="left_ring_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_1">
+    <inertial>
+      <origin
+        xyz="0.000461475145814225 0.011651147716913 -0.00589994431843319"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881226910619359" />
+      <inertia
+        ixx="1.40236349914062E-06"
+        ixy="-1.1103737933177E-07"
+        ixz="9.26298240945681E-13"
+        iyy="4.33626325901594E-07"
+        iyz="-7.54482753315849E-12"
+        izz="1.46958855372561E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_little_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.025587 0.1357"
+      rpy="1.4661 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_little_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_little_rubber_1">
+    <inertial>
+      <origin
+        xyz="3.9661069733965E-07 -0.000277754419665203 -0.00810761540409644"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100758672179722" />
+      <inertia
+        ixx="9.52792831249349E-08"
+        ixy="9.76489467985872E-13"
+        ixz="3.40096311213686E-13"
+        iyy="6.33417927153541E-08"
+        iyz="-1.10190652424395E-08"
+        izz="8.23833299006405E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_1.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_little_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 -0.0059"
+      rpy="-1.6373 1.5708 -1.5708" />
+    <parent
+      link="left_little_1" />
+    <child
+      link="left_little_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_2">
+    <inertial>
+      <origin
+        xyz="-9.66953409735488E-05 0.0131703851115681 -0.0051009352074308"
+        rpy="0 0 0" />
+      <mass
+        value="0.0073597603922405" />
+      <inertia
+        ixx="4.52977984459269E-07"
+        ixy="-1.39937157845321E-07"
+        ixz="2.17043248135716E-11"
+        iyy="1.74899587515266E-07"
+        iyz="4.793455924041E-11"
+        izz="5.20964333649667E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_little_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="left_little_1" />
+    <child
+      link="left_little_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_little_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="left_little_rubber_2">
+    <inertial>
+      <origin
+        xyz="7.99800886075452E-08 0.0112749035859891 -0.000128893404753347"
+        rpy="0 0 0" />
+      <mass
+        value="0.000944677110750505" />
+      <inertia
+        ixx="7.27256998745925E-08"
+        ixy="8.79447839606861E-12"
+        ixz="-4.11179878788017E-13"
+        iyy="1.9751675428608E-08"
+        iyz="-1.31114374351836E-08"
+        izz="7.28078257130206E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_little_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0060598 0.012028 -0.0051"
+      rpy="3.1407 1.5701 3.1338" />
+    <parent
+      link="left_little_2" />
+    <child
+      link="left_little_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_pad">
+    <inertial>
+      <origin
+        xyz="4.26351731697139E-09 -0.000945394972293657 -0.000793541046852669"
+        rpy="0 0 0" />
+      <mass
+        value="1.46539353671065E-05" />
+      <inertia
+        ixx="1.40180735091283E-11"
+        ixy="1.6193464210242E-17"
+        ixz="1.17587638114339E-16"
+        iyy="2.05087141535222E-11"
+        iyz="-1.09095131218755E-12"
+        izz="3.10123565645623E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_little_pad_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.015811 0.0062245"
+      rpy="0.23432 -0.00072425 0" />
+    <parent
+      link="left_little_rubber_2" />
+    <child
+      link="left_little_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_little_tip">
+    <inertial>
+      <origin
+        xyz="-0.000679511004398545 -7.33584859524683E-09 -0.0009899693704125"
+        rpy="0 0 0" />
+      <mass
+        value="1.82383852219562E-05" />
+      <inertia
+        ixx="2.78570131965694E-11"
+        ixy="-6.23802723801218E-17"
+        ixz="-2.37868618847864E-12"
+        iyy="1.66773044526593E-11"
+        iyz="4.01471577678487E-17"
+        izz="3.57549531689912E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_little_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_little_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.023528 0.0036479"
+      rpy="0.0019559 -1.1915 -1.5726" />
+    <parent
+      link="left_little_rubber_2" />
+    <child
+      link="left_little_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="l_plam">
+    <inertial>
+      <origin
+        xyz="0.00487540843079473 -0.00792635358921371 0.000407295131145527"
+        rpy="0 0 0" />
+      <mass
+        value="0.0103867697224328" />
+      <inertia
+        ixx="4.32579238773537E-06"
+        ixy="1.82986381074143E-06"
+        ixz="-1.24431557170631E-07"
+        iyy="5.02135147678096E-06"
+        iyz="6.0880720395417E-07"
+        izz="9.01588192510949E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_plam.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_plam.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_plam_joint"
+    type="fixed">
+    <origin
+      xyz="0.014363 0.0044514 0.10148"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="l_plam" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_1">
+    <inertial>
+      <origin
+        xyz="0.000675346448543043 -0.00433551697891771 -0.00508780193489456"
+        rpy="0 0 0" />
+      <mass
+        value="0.0048541771537782" />
+      <inertia
+        ixx="1.96094051160198E-07"
+        ixy="3.4858314687744E-08"
+        ixz="-3.39249138133517E-09"
+        iyy="1.43278984955152E-07"
+        iyz="8.19838067662732E-09"
+        izz="1.68938152839344E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_1_joint"
+    type="revolute">
+    <origin
+      xyz="0.01696 -0.02045 0.0667"
+      rpy="0 0 0" />
+    <parent
+      link="l_base_link" />
+    <child
+      link="left_thumb_1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.310384"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_2">
+    <inertial>
+      <origin
+        xyz="0.0217021678253001 0.0140075970723664 0.00802372797249212"
+        rpy="0 0 0" />
+      <mass
+        value="0.0314644827364552" />
+      <inertia
+        ixx="4.77086341809611E-06"
+        ixy="-2.24566024867355E-06"
+        ixz="1.95467941085415E-09"
+        iyy="5.25069497924692E-06"
+        iyz="-6.67201748128018E-10"
+        izz="9.41389275530489E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.010704 -0.0090376 -0.0065"
+      rpy="1.5708 0 -1.309" />
+    <parent
+      link="left_thumb_1" />
+    <child
+      link="left_thumb_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.523477"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.40162647625353E-05 0.00265236291170259 -0.00524128392726222"
+        rpy="0 0 0" />
+      <mass
+        value="0.0014906283411173" />
+      <inertia
+        ixx="1.88752644928606E-07"
+        ixy="-3.8026755003658E-11"
+        ixz="-3.8765284624088E-10"
+        iyy="8.68559982474995E-08"
+        iyz="3.72404130676969E-09"
+        izz="2.26622483357037E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.013047 0.031386 0.0079991"
+      rpy="3.1382 1.5604 -0.95011" />
+    <parent
+      link="left_thumb_2" />
+    <child
+      link="left_thumb_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_3">
+    <inertial>
+      <origin
+        xyz="0.00916392494072082 -0.000213746989467434 0.00749980580117554"
+        rpy="0 0 0" />
+      <mass
+        value="0.00637729293152042" />
+      <inertia
+        ixx="7.06808324923041E-07"
+        ixy="-1.80649444240681E-07"
+        ixz="-4.54605002004831E-12"
+        iyy="5.60096873247658E-07"
+        iyz="-6.4139500191323E-12"
+        izz="8.41963898391664E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_3.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_3_joint"
+    type="revolute">
+    <origin
+      xyz="0.041584 0.037508 0.0005"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_2" />
+    <child
+      link="left_thumb_3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.606844"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_thumb_2_joint"
+        multiplier="1.1425"
+        offset="0" />
+  </joint>
+  <link
+    name="left_thumb_rubber_2">
+    <inertial>
+      <origin
+        xyz="0.000162365997336933 -0.00288606632154562 -0.00905409083254546"
+        rpy="0 0 0" />
+      <mass
+        value="0.000712407776191055" />
+      <inertia
+        ixx="4.20918453267061E-08"
+        ixy="1.57340698262729E-10"
+        ixz="1.3516984445783E-10"
+        iyy="5.19680969543388E-08"
+        iyz="-8.47498354856299E-09"
+        izz="3.43794675555184E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_2.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.00507 0.011874 0.0075"
+      rpy="3.1416 1.5531 -1.0475" />
+    <parent
+      link="left_thumb_3" />
+    <child
+      link="left_thumb_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_4">
+    <inertial>
+      <origin
+        xyz="0.00556381842605763 0.00321786565136162 0.00598762078210308"
+        rpy="0 0 0" />
+      <mass
+        value="0.00250044545642775" />
+      <inertia
+        ixx="7.83011856485637E-08"
+        ixy="-4.7057697220776E-08"
+        ixz="-1.10925668134676E-10"
+        iyy="7.83149579014379E-08"
+        iyz="-2.74917415975889E-10"
+        izz="1.30863153598266E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_4_joint"
+    type="revolute">
+    <origin
+      xyz="0.018393 0.013222 0.0015"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_3" />
+    <child
+      link="left_thumb_4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.430866"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="left_thumb_3_joint"
+        multiplier="0.7508"
+        offset="0.1" />
+  </joint>
+  <link
+    name="left_thumb_rubber_3">
+    <inertial>
+      <origin
+        xyz="0.000268126145379105 -0.00224962169943535 -0.00745388764640809"
+        rpy="0 0 0" />
+      <mass
+        value="0.00232428792968957" />
+      <inertia
+        ixx="1.17389753346854E-07"
+        ixy="-2.01766145271162E-10"
+        ixz="-5.32341724071498E-12"
+        iyy="6.66695035665084E-08"
+        iyz="5.60795555686443E-09"
+        izz="1.17533665402913E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_rubber_3.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_rubber_3_joint"
+    type="fixed">
+    <origin
+      xyz="0.001618 0.009709 0.006"
+      rpy="3.1415 1.5348 -0.55813" />
+    <parent
+      link="left_thumb_4" />
+    <child
+      link="left_thumb_rubber_3" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_pad">
+    <inertial>
+      <origin
+        xyz="-3.37221102708618E-08 0.00163135155510163 -0.00128514999690035"
+        rpy="0 0 0" />
+      <mass
+        value="4.94551999339821E-05" />
+      <inertia
+        ixx="1.38213576910352E-10"
+        ixy="4.70832523459267E-16"
+        ixz="1.49104319677513E-15"
+        iyy="8.81925937138397E-11"
+        iyz="-2.69646775933514E-12"
+        izz="1.80759780259597E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pad.STL" />
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.25</mu>  <!-- 动摩擦系数 -->
+            <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_pad_joint"
+    type="fixed">
+    <origin
+      xyz="4.8581E-05 -0.007836 -0.0013499"
+      rpy="0.28005 -0.035991 -1.4391E-05" />
+    <parent
+      link="left_thumb_rubber_3" />
+    <child
+      link="left_thumb_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_thumb_tip">
+    <inertial>
+      <origin
+        xyz="2.50035524579084E-05 -0.00144636222857047 -0.00180325426020556"
+        rpy="0 0 0" />
+      <mass
+        value="6.08897929255959E-05" />
+      <inertia
+        ixx="1.79108473399612E-10"
+        ixy="4.05362271422044E-13"
+        ixz="-3.7128202926775E-13"
+        iyy="1.33990932373892E-10"
+        iyz="-2.89649540571285E-11"
+        izz="2.06216102977108E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0.00028944 -0.014777 -0.0080365"
+      rpy="1.3794 -0.03325 0.013534" />
+    <parent
+      link="left_thumb_rubber_3" />
+    <child
+      link="left_thumb_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+RH56DFX/urdf/Right_Hand.urdf b/Robots_p/ur5+RH56DFX/urdf/Right_Hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d0a77a7a20dd97091e7859ee6c4fe9e57a5df690
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/urdf/Right_Hand.urdf
@@ -0,0 +1,2059 @@
+<?xml version="1.0" ?>
+
+<robot name="ur5">
+  <link
+    name="r_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000268604455588448 -0.00156391576210077 0.0676650473313929"
+        rpy="0 0 0" />
+      <mass
+        value="0.44281138331417" />
+      <inertia
+        ixx="0.00032283748353732"
+        ixy="1.36447935341448E-06"
+        ixz="-1.95391053679767E-06"
+        iyy="0.000208330666586235"
+        iyz="1.17907186759775E-06"
+        izz="0.000184844103234342" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="right_thumb_1">
+    <inertial>
+      <origin
+        xyz="0.000675361243917746 0.00433554414064958 -0.00508779581139576"
+        rpy="0 0 0" />
+      <mass
+        value="0.00485414527400046" />
+      <inertia
+        ixx="1.9609332795642E-07"
+        ixy="-3.48579868905759E-08"
+        ixz="-3.39216862091962E-09"
+        iyy="1.43278320785818E-07"
+        iyz="-8.19845149663524E-09"
+        izz="1.68937481009729E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_1_joint"
+    type="revolute">
+    <origin
+      xyz="0.01696 0.02045 0.0667"
+      rpy="0 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_thumb_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.310384"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_2">
+    <inertial>
+      <origin
+        xyz="-0.0217020597299479 0.0140073366342627 0.00802385606302948"
+        rpy="0 0 0" />
+      <mass
+        value="0.0314640304512208" />
+      <inertia
+        ixx="4.77080502994361E-06"
+        ixy="2.24565380203131E-06"
+        ixz="-1.93384802248301E-09"
+        iyy="5.25070317115698E-06"
+        iyz="-6.93473069420479E-10"
+        izz="9.41384151374767E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.010704 0.0090376 -0.0065"
+      rpy="1.5708 0 -1.8326" />
+    <parent
+      link="right_thumb_1" />
+    <child
+      link="right_thumb_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.523477"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_3">
+    <inertial>
+      <origin
+        xyz="-0.00916388835013882 -0.000213690008193874 0.00750028797357707"
+        rpy="0 0 0" />
+      <mass
+        value="0.00637737480667549" />
+      <inertia
+        ixx="7.06810039557757E-07"
+        ixy="1.80648211020393E-07"
+        ixz="-7.56321927667212E-12"
+        iyy="5.60101216986171E-07"
+        iyz="6.09546972729843E-12"
+        izz="8.41964957547647E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_3.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_3_joint"
+    type="revolute">
+    <origin
+      xyz="-0.041584 0.037508 0.0005"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_2" />
+    <child
+      link="right_thumb_3" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.606844"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_thumb_2_joint"
+        multiplier="1.1425"
+        offset="0" />
+  </joint>
+  <link
+    name="right_thumb_4">
+    <inertial>
+      <origin
+        xyz="-0.00556381960339052 0.00321786469032558 0.00598762142813954"
+        rpy="0 0 0" />
+      <mass
+        value="0.0025004461294059" />
+      <inertia
+        ixx="7.83011892756105E-08"
+        ixy="4.70576750033798E-08"
+        ixz="1.10924492038402E-10"
+        iyy="7.83149658560793E-08"
+        iyz="-2.74907781669826E-10"
+        izz="1.30863162691476E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_4_joint"
+    type="revolute">
+    <origin
+      xyz="-0.018393 0.013222 0.0015"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_3" />
+    <child
+      link="right_thumb_4" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.430866"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_thumb_3_joint"
+        multiplier="0.7508"
+        offset="0.1" />
+  </joint>
+  <link
+    name="right_thumb_rubber_3">
+    <inertial>
+      <origin
+        xyz="0.000133677754111619 0.00249789544313434 -0.00737807315210834"
+        rpy="0 0 0" />
+      <mass
+        value="0.00232428277409971" />
+      <inertia
+        ixx="1.1738940345995E-07"
+        ixy="1.33164031093727E-10"
+        ixz="5.42230494538498E-12"
+        iyy="6.71016287130116E-08"
+        iyz="-7.29911404958279E-09"
+        izz="1.17101548394252E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_3.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_rubber_3_joint"
+    type="fixed">
+    <origin
+      xyz="-0.001618 0.009709 0.006"
+      rpy="-3.1415 1.5526 -2.5499" />
+    <parent
+      link="right_thumb_4" />
+    <child
+      link="right_thumb_rubber_3" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_pad">
+    <inertial>
+      <origin
+        xyz="-3.17863613624736E-08 -0.00152836456065816 -0.0014060654960278"
+        rpy="0 0 0" />
+      <mass
+        value="0.000138969107299723" />
+      <inertia
+        ixx="3.88380090334865E-10"
+        ixy="-2.2040272967494E-15"
+        ixz="3.72337458984265E-15"
+        iyy="2.48185589616352E-10"
+        iyz="-1.23321553256561E-11"
+        izz="5.07570387988192E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_pad_joint"
+    type="fixed">
+    <origin
+      xyz="1.97306155155508E-05 0.00787683873056354 -0.00108764909180575"
+      rpy="-0.32308105919377 -0.0181645215163438 1.44824432616579E-05" />
+    <parent
+      link="right_thumb_rubber_3" />
+    <child
+      link="right_thumb_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_tip">
+    <inertial>
+      <origin
+        xyz="-2.47505902372935E-05 0.00144636195662112 -0.00180325741638071"
+        rpy="0 0 0" />
+      <mass
+        value="0.00017110035356973" />
+      <inertia
+        ixx="5.03295308586156E-10"
+        ixy="1.1038459890022E-12"
+        ixz="1.06224755236763E-12"
+        iyy="3.76514497106408E-10"
+        iyz="8.13921166925614E-11"
+        izz="5.79466758416002E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0.000137071096497604 0.0150376112085459 -0.00754156328997224"
+      rpy="-1.34664653486349 -0.0211118546108423 0.0134662732683287" />
+    <parent
+      link="right_thumb_rubber_3" />
+    <child
+      link="right_thumb_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_rubber_2">
+    <inertial>
+      <origin
+        xyz="0.000157140889199783 0.00288556596888331 -0.00905406193357969"
+        rpy="0 0 0" />
+      <mass
+        value="0.000712293475130305" />
+      <inertia
+        ixx="4.2089130115591E-08"
+        ixy="-1.40469831307445E-10"
+        ixz="1.37381961636698E-10"
+        iyy="5.19654488817118E-08"
+        iyz="8.47531049325099E-09"
+        izz="3.43756130398348E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="-0.00507 0.011874 0.0075"
+      rpy="-3.1416 1.5531 -2.094" />
+    <parent
+      link="right_thumb_3" />
+    <child
+      link="right_thumb_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.25123796278198E-05 -0.00265158184532596 -0.00524156527611314"
+        rpy="0 0 0" />
+      <mass
+        value="0.00149071340727244" />
+      <inertia
+        ixx="1.88775194707542E-07"
+        ixy="6.69255450794997E-11"
+        ixz="-4.00394969226036E-10"
+        iyy="8.68614474046453E-08"
+        iyz="-3.72017830861924E-09"
+        izz="2.26648080388043E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="-0.013047 0.031386 0.0079991"
+      rpy="-3.1382 1.5604 -2.1915" />
+    <parent
+      link="right_thumb_2" />
+    <child
+      link="right_thumb_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_1">
+    <inertial>
+      <origin
+        xyz="0.000461509522881251 0.0116512167073588 0.00590005205650069"
+        rpy="0 0 0" />
+      <mass
+        value="0.0088122715051036" />
+      <inertia
+        ixx="1.40236362118852E-06"
+        ixy="-1.11033984168461E-07"
+        ixz="-3.45534140604099E-13"
+        iyy="4.33624497078647E-07"
+        iyz="-8.02588111503433E-12"
+        izz="1.46958690770039E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.032168 0.13653"
+      rpy="1.5359 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_index_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_rubber_1">
+    <inertial>
+      <origin
+        xyz="4.12805956806483E-07 -0.000277556595871697 -0.00810725944560028"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100751145071282" />
+      <inertia
+        ixx="9.52705542669085E-08"
+        ixy="-6.53021203153016E-13"
+        ixz="2.06718585520476E-12"
+        iyy="6.33360703776505E-08"
+        iyz="-1.10143899913928E-08"
+        izz="8.2378637909334E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_index_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0058991"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_index_1" />
+    <child
+      link="right_index_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_2">
+    <inertial>
+      <origin
+        xyz="0.000846426534759137 0.0159697001083362 0.00510099034129251"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925229796570667" />
+      <inertia
+        ixx="8.02619712389298E-07"
+        ixy="-2.71403950553563E-07"
+        ixz="-3.30964974651296E-11"
+        iyy="2.63871633501356E-07"
+        iyz="-7.26892151274215E-11"
+        izz="9.31350792104698E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_index_1" />
+    <child
+      link="right_index_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_index_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_index_rubber_2">
+    <inertial>
+      <origin
+        xyz="-3.58356273424953E-06 0.0158538079871463 -0.000683080888343193"
+        rpy="0 0 0" />
+      <mass
+        value="0.00119003328901229" />
+      <inertia
+        ixx="1.35901045730651E-07"
+        ixy="-8.22113597047336E-11"
+        ixz="8.26751437859069E-12"
+        iyy="2.32704344501304E-08"
+        iyz="-1.5965157571134E-08"
+        izz="1.37434601512647E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0070147 0.012486 0.0050557"
+      rpy="1.6908 1.5638 1.5708" />
+    <parent
+      link="right_index_2" />
+    <child
+      link="right_index_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_pad">
+    <inertial>
+      <origin
+        xyz="-4.72675732283989E-06 -0.00107358726165793 -0.000867322927155814"
+        rpy="0 0 0" />
+      <mass
+        value="4.91580635340277E-05" />
+      <inertia
+        ixx="5.5578818727044E-11"
+        ixy="-2.56095658110701E-14"
+        ixz="3.01618774673413E-13"
+        iyy="6.99839853074953E-11"
+        iyz="-4.83794966411374E-12"
+        izz="1.11177015808293E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_index_pad_joint"
+    type="fixed">
+    <origin
+      xyz="3.00243817556722E-05 0.0237882080122733 0.00562165601406409"
+      rpy="0.0696904105640824 -4.36438134320539E-05 -0.000362025901862688" />
+    <parent
+      link="right_index_rubber_2" />
+    <child
+      link="right_index_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856665440566062 1.72386023511439E-08 -0.00102183804462784"
+        rpy="0 0 0" />
+      <mass
+        value="4.8581150755806E-05" />
+      <inertia
+        ixx="7.21518593802518E-11"
+        ixy="-8.82984500824386E-16"
+        ixz="-6.19021389144841E-12"
+        iyy="4.34288558152482E-11"
+        iyz="-6.09787415609971E-16"
+        izz="9.51176981115546E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_tip_joint"
+    type="fixed">
+    <origin
+      xyz="1.3021716642192E-05 0.0312210274719888 0.00245735122593096"
+      rpy="-0.0132578490113875 -1.15442763241846 -1.55866618437752" />
+    <parent
+      link="right_index_rubber_2" />
+    <child
+      link="right_index_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_1">
+    <inertial>
+      <origin
+        xyz="0.000461536885984493 0.0116516125222251 0.00589995181961714"
+        rpy="0 0 0" />
+      <mass
+        value="0.008812009704949" />
+      <inertia
+        ixx="1.40231746759186E-06"
+        ixy="-1.11031857346658E-07"
+        ixz="2.76776871415406E-13"
+        iyy="4.3361687442049E-07"
+        iyz="-2.06120095699905E-11"
+        izz="1.46953912178466E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.01285 0.1371"
+      rpy="1.5708 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_middle_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.03351059822493E-07 -0.000277151585263605 -0.00810672582334755"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100745318455656" />
+      <inertia
+        ixx="9.5260411594105E-08"
+        ixy="-6.69431445254942E-14"
+        ixz="2.63670575694768E-12"
+        iyy="6.33300913372493E-08"
+        iyz="-1.10094870847211E-08"
+        izz="8.23746545988052E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_middle_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0059"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_middle_1" />
+    <child
+      link="right_middle_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_2">
+    <inertial>
+      <origin
+        xyz="0.00141024346448289 0.0172292690724932 0.00510100142947595"
+        rpy="0 0 0" />
+      <mass
+        value="0.0100500190545245" />
+      <inertia
+        ixx="1.00699767773869E-06"
+        ixy="-3.53466950101424E-07"
+        ixz="-4.09738501779845E-11"
+        iyy="3.12317850665907E-07"
+        iyz="-8.97245492379795E-11"
+        izz="1.17274745258556E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_middle_1" />
+    <child
+      link="right_middle_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_middle_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_middle_rubber_2">
+    <inertial>
+      <origin
+        xyz="-7.78660795392946E-06 0.0179695960463814 -0.000804223911115579"
+        rpy="0 0 0" />
+      <mass
+        value="0.0013048811432833" />
+      <inertia
+        ixx="1.76860633231279E-07"
+        ixy="-1.72710567602084E-10"
+        ixz="1.86622775329523E-11"
+        iyy="2.52989855308437E-08"
+        iyz="-1.81372167935848E-08"
+        izz="1.78751424236927E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_middle_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0072845 0.012518 0.0050018"
+      rpy="1.7195 1.5657 1.5708" />
+    <parent
+      link="right_middle_2" />
+    <child
+      link="right_middle_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_pad">
+    <inertial>
+      <origin
+        xyz="-9.14565195887437E-06 -0.000840646466128969 -0.000949483924762157"
+        rpy="0 0 0" />
+      <mass
+        value="5.07972430810532E-05" />
+      <inertia
+        ixx="4.94396351444529E-11"
+        ixy="-7.91548004686604E-15"
+        ixz="5.40378231833977E-13"
+        iyy="7.44594898392844E-11"
+        iyz="-8.17507834331293E-13"
+        izz="1.05507123106656E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_middle_pad_joint"
+    type="fixed">
+    <origin
+      xyz="5.25438080711468E-05 0.0275018148385101 0.00545981715229053"
+      rpy="-0.00517966246514453 0 5.23567777294042E-05" />
+    <parent
+      link="right_middle_rubber_2" />
+    <child
+      link="right_middle_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_tip">
+    <inertial>
+      <origin
+        xyz="-0.000704283128653865 1.67839236536738E-08 -0.00102507470098162"
+        rpy="0 0 0" />
+      <mass
+        value="4.91005965538781E-05" />
+      <inertia
+        ixx="7.4817666907452E-11"
+        ixy="-2.50173118998556E-16"
+        ixz="-8.35780307730688E-12"
+        iyy="4.40425756472355E-11"
+        iyz="-5.5138528291299E-16"
+        izz="9.36024416007487E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_tip_joint"
+    type="fixed">
+    <origin
+      xyz="2.14438757245201E-05 0.0347938058137771 0.00223431434988275"
+      rpy="-0.0212852224193426 -1.10096720678329 -1.55181437467009" />
+    <parent
+      link="right_middle_rubber_2" />
+    <child
+      link="right_middle_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_1">
+    <inertial>
+      <origin
+        xyz="0.000461529808951755 0.0116516281013052 0.00589997080611728"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881199089266141" />
+      <inertia
+        ixx="1.40231626030129E-06"
+        ixy="-1.11031417680307E-07"
+        ixz="-4.11132319980449E-13"
+        iyy="4.33615995682151E-07"
+        iyz="-1.87827283697014E-11"
+        izz="1.46953842944211E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.006387 0.13691"
+      rpy="1.6232 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_ring_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_ring_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.21559770035084E-07 -0.00027711873325572 -0.00810658713183561"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100744692221204" />
+      <inertia
+        ixx="9.52590748325436E-08"
+        ixy="3.14419307320589E-13"
+        ixz="2.58919901199866E-12"
+        iyy="6.33292870038947E-08"
+        iyz="-1.10085765951351E-08"
+        izz="8.23741747990365E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_ring_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0059"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_ring_1" />
+    <child
+      link="right_ring_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_2">
+    <inertial>
+      <origin
+        xyz="0.000846433960369861 0.0159697337276641 0.00510097835693506"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925228640460226" />
+      <inertia
+        ixx="8.02618879630184E-07"
+        ixy="-2.71404191071111E-07"
+        ixz="-3.36930516321696E-11"
+        iyy="2.63871764022255E-07"
+        iyz="-7.22696351064651E-11"
+        izz="9.31349226423688E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_ring_1" />
+    <child
+      link="right_ring_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_ring_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_ring_rubber_2">
+    <inertial>
+      <origin
+        xyz="3.86139388208794E-06 0.0158537656121268 -0.000683069774846418"
+        rpy="0 0 0" />
+      <mass
+        value="0.00119005024637797" />
+      <inertia
+        ixx="1.3590239064115E-07"
+        ixy="9.33554288461355E-11"
+        ixz="-8.65081377481482E-12"
+        iyy="2.32706293689469E-08"
+        iyz="-1.59652938631654E-08"
+        izz="1.37436006921243E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_ring_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.00685339412965266 0.0123693480371164 0.0050852021440689"
+      rpy="1.69435491572921 1.55693797492977 1.5707963267949" />
+    <parent
+      link="right_ring_2" />
+    <child
+      link="right_ring_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_pad">
+    <inertial>
+      <origin
+        xyz="4.93671885636732E-06 -0.00107358739426554 -0.000867321750761263"
+        rpy="0 0 0" />
+      <mass
+        value="4.91580616058684E-05" />
+      <inertia
+        ixx="5.55789971203642E-11"
+        ixy="2.82945412870402E-14"
+        ixz="-3.17865063864845E-13"
+        iyy="6.99839909074725E-11"
+        iyz="-4.83793120453107E-12"
+        izz="1.11176836090907E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_ring_pad_joint"
+    type="fixed">
+    <origin
+      xyz="-3.19252405448149E-05 0.023788208012268 0.0056216455404758"
+      rpy="0.069690128142456 5.13938714334209E-05 0.000413828517329857" />
+    <parent
+      link="right_ring_rubber_2" />
+    <child
+      link="right_ring_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856664915059729 1.84558855672104E-08 -0.00102183703604269"
+        rpy="0 0 0" />
+      <mass
+        value="4.85811800950388E-05" />
+      <inertia
+        ixx="7.21518845124189E-11"
+        ixy="-9.06674000673522E-16"
+        ixz="-6.19024133610583E-12"
+        iyy="4.3428909706311E-11"
+        iyz="-6.22904562534474E-16"
+        izz="9.5117698350311E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_tip_joint"
+    type="fixed">
+    <origin
+      xyz="-1.40578386722194E-05 0.031221027471983 0.00245734551696726"
+      rpy="0.0139894535346192 -1.15442399923571 -1.58358580818303" />
+    <parent
+      link="right_ring_rubber_2" />
+    <child
+      link="right_ring_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_1">
+    <inertial>
+      <origin
+        xyz="0.000461535865007925 0.0116516313664518 0.00589997438900475"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881199742105397" />
+      <inertia
+        ixx="1.4023164476314E-06"
+        ixy="-1.11031114078783E-07"
+        ixz="-6.64626469397567E-13"
+        iyy="4.33616376571531E-07"
+        iyz="-1.83961469266843E-11"
+        izz="1.46953909500208E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.025587 0.1357"
+      rpy="1.6755 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_little_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_little_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.20179807662197E-07 -0.000277124687351721 -0.00810660245069689"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100745340016915" />
+      <inertia
+        ixx="9.5259604318723E-08"
+        ixy="2.51290768845785E-13"
+        ixz="2.57994342884682E-12"
+        iyy="6.33296342901818E-08"
+        iyz="-1.10088384074955E-08"
+        izz="8.23744454855254E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_little_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0059"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_little_1" />
+    <child
+      link="right_little_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_2">
+    <inertial>
+      <origin
+        xyz="-9.65934753168612E-05 0.0131706385669229 0.00510089546104599"
+        rpy="0 0 0" />
+      <mass
+        value="0.00735975645438558" />
+      <inertia
+        ixx="4.52987650882817E-07"
+        ixy="-1.39947116144588E-07"
+        ixz="-1.99302269280599E-11"
+        iyy="1.74903368778748E-07"
+        iyz="-4.32909879787788E-11"
+        izz="5.20977818958806E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_little_1" />
+    <child
+      link="right_little_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_little_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_little_rubber_2">
+    <inertial>
+      <origin
+        xyz="1.62425876137906E-07 0.0112748945844156 -0.000128890409676133"
+        rpy="0 0 0" />
+      <mass
+        value="0.000944695125035103" />
+      <inertia
+        ixx="7.2727499654919E-08"
+        ixy="5.77567509581988E-13"
+        ixz="3.35299338499586E-13"
+        iyy="1.97518492029983E-08"
+        iyz="-1.31116172495388E-08"
+        izz="7.2809424232253E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_little_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0060598 0.012028 0.0051"
+      rpy="-1.5639 1.5708 -1.5708" />
+    <parent
+      link="right_little_2" />
+    <child
+      link="right_little_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_pad">
+    <inertial>
+      <origin
+        xyz="1.18945155044847E-08 -0.000945393602624786 -0.000793542159615274"
+        rpy="0 0 0" />
+      <mass
+        value="4.11773981011346E-05" />
+      <inertia
+        ixx="3.93905948672135E-11"
+        ixy="-7.32805647857825E-16"
+        ixz="1.2637926765438E-16"
+        iyy="5.76290636184782E-11"
+        iyz="-3.06558460120779E-12"
+        izz="8.71440947947964E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_little_pad_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.0158106591438756 0.00622450938719539"
+      rpy="0.234319161981939 0 0" />
+    <parent
+      link="right_little_rubber_2" />
+    <child
+      link="right_little_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_tip">
+    <inertial>
+      <origin
+        xyz="-0.000679510924646992 -6.02486744175068E-09 -0.000989969384403724"
+        rpy="0 0 0" />
+      <mass
+        value="5.12498578797036E-05" />
+      <inertia
+        ixx="7.82782292969908E-11"
+        ixy="-1.7772592370017E-16"
+        ixz="-6.68409720589241E-12"
+        iyy="4.68632553260876E-11"
+        iyz="4.12841427346065E-17"
+        izz="1.00471412022202E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.0235281291193636 0.00364793083244132"
+      rpy="0 -1.19148502417136 -1.57079698453249" />
+    <parent
+      link="right_little_rubber_2" />
+    <child
+      link="right_little_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="plam">
+    <inertial>
+      <origin
+        xyz="-0.00487476115291697 -0.00792590594988131 0.000407287403626957"
+        rpy="0 0 0" />
+      <mass
+        value="0.0103872606312152" />
+      <inertia
+        ixx="4.32573922871556E-06"
+        ixy="-1.82977028647607E-06"
+        ixz="1.24432802967265E-07"
+        iyy="5.02164658586136E-06"
+        iyz="6.08810899531559E-07"
+        izz="9.01614152193276E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/plam.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/plam.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="plam_joint"
+    type="fixed">
+    <origin
+      xyz="0.014363 -0.0044514 0.10148"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="plam" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+RH56DFX/urdf/Right_UR5_RH56DFX_with_flange.urdf b/Robots_p/ur5+RH56DFX/urdf/Right_UR5_RH56DFX_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3870cde95c813b0636b119902d93e6ca3a7b0ab9
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/urdf/Right_UR5_RH56DFX_with_flange.urdf
@@ -0,0 +1,2655 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+
+    <joint name="wrist3_to_r_base" type="fixed">
+      <origin xyz="0 0 0.010" rpy="0 0 1.57"/>
+      <parent link="wrist_3_link"/>
+      <child link="r_base_link"/>
+    </joint>
+
+  <link
+    name="r_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000268604455588448 -0.00156391576210077 0.0676650473313929"
+        rpy="0 0 0" />
+      <mass
+        value="0.44281138331417" />
+      <inertia
+        ixx="0.00032283748353732"
+        ixy="1.36447935341448E-06"
+        ixz="-1.95391053679767E-06"
+        iyy="0.000208330666586235"
+        iyz="1.17907186759775E-06"
+        izz="0.000184844103234342" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="r_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955455001528E-10 1.16584006337739E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425512" />
+      <inertia
+        ixx="5.79403393826274E-06"
+        ixy="-2.14169586327831E-14"
+        ixz="5.36313422038085E-14"
+        iyy="5.79403739954587E-06"
+        iyz="-1.74818936645495E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.00950000000000002"
+      rpy="0 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="r_flange" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_1">
+    <inertial>
+      <origin
+        xyz="0.000675361243917746 0.00433554414064958 -0.00508779581139576"
+        rpy="0 0 0" />
+      <mass
+        value="0.00485414527400046" />
+      <inertia
+        ixx="1.9609332795642E-07"
+        ixy="-3.48579868905759E-08"
+        ixz="-3.39216862091962E-09"
+        iyy="1.43278320785818E-07"
+        iyz="-8.19845149663524E-09"
+        izz="1.68937481009729E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.83921568627451 0.827450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_1_joint"
+    type="revolute">
+    <origin
+      xyz="0.01696 0.02045 0.0667"
+      rpy="0 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_thumb_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.310384"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_2">
+    <inertial>
+      <origin
+        xyz="-0.0217020597299479 0.0140073366342627 0.00802385606302948"
+        rpy="0 0 0" />
+      <mass
+        value="0.0314640304512208" />
+      <inertia
+        ixx="4.77080502994361E-06"
+        ixy="2.24565380203131E-06"
+        ixz="-1.93384802248301E-09"
+        iyy="5.25070317115698E-06"
+        iyz="-6.93473069420479E-10"
+        izz="9.41384151374767E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.010704 0.0090376 -0.0065"
+      rpy="1.5708 0 -1.8326" />
+    <parent
+      link="right_thumb_1" />
+    <child
+      link="right_thumb_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.523477"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_3">
+    <inertial>
+      <origin
+        xyz="-0.00916388835013882 -0.000213690008193874 0.00750028797357707"
+        rpy="0 0 0" />
+      <mass
+        value="0.00637737480667549" />
+      <inertia
+        ixx="7.06810039557757E-07"
+        ixy="1.80648211020393E-07"
+        ixz="-7.56321927667212E-12"
+        iyy="5.60101216986171E-07"
+        iyz="6.09546972729843E-12"
+        izz="8.41964957547647E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_3.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_3_joint"
+    type="revolute">
+    <origin
+      xyz="-0.041584 0.037508 0.0005"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_2" />
+    <child
+      link="right_thumb_3" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.606844"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_thumb_2_joint"
+        multiplier="1.1425"
+        offset="0" />
+  </joint>
+  <link
+    name="right_thumb_4">
+    <inertial>
+      <origin
+        xyz="-0.00556381960339052 0.00321786469032558 0.00598762142813954"
+        rpy="0 0 0" />
+      <mass
+        value="0.0025004461294059" />
+      <inertia
+        ixx="7.83011892756105E-08"
+        ixy="4.70576750033798E-08"
+        ixz="1.10924492038402E-10"
+        iyy="7.83149658560793E-08"
+        iyz="-2.74907781669826E-10"
+        izz="1.30863162691476E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_4_joint"
+    type="revolute">
+    <origin
+      xyz="-0.018393 0.013222 0.0015"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_3" />
+    <child
+      link="right_thumb_4" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.430866"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_thumb_3_joint"
+        multiplier="0.7508"
+        offset="0.1" />
+  </joint>
+  <link
+    name="right_thumb_rubber_3">
+    <inertial>
+      <origin
+        xyz="0.000133677754111619 0.00249789544313434 -0.00737807315210834"
+        rpy="0 0 0" />
+      <mass
+        value="0.00232428277409971" />
+      <inertia
+        ixx="1.1738940345995E-07"
+        ixy="1.33164031093727E-10"
+        ixz="5.42230494538498E-12"
+        iyy="6.71016287130116E-08"
+        iyz="-7.29911404958279E-09"
+        izz="1.17101548394252E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_3.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_rubber_3_joint"
+    type="fixed">
+    <origin
+      xyz="-0.001618 0.009709 0.006"
+      rpy="-3.1415 1.5526 -2.5499" />
+    <parent
+      link="right_thumb_4" />
+    <child
+      link="right_thumb_rubber_3" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_pad">
+    <inertial>
+      <origin
+        xyz="-3.17863613624736E-08 -0.00152836456065816 -0.0014060654960278"
+        rpy="0 0 0" />
+      <mass
+        value="0.000138969107299723" />
+      <inertia
+        ixx="3.88380090334865E-10"
+        ixy="-2.2040272967494E-15"
+        ixz="3.72337458984265E-15"
+        iyy="2.48185589616352E-10"
+        iyz="-1.23321553256561E-11"
+        izz="5.07570387988192E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_pad_joint"
+    type="fixed">
+    <origin
+      xyz="1.97306155155508E-05 0.00787683873056354 -0.00108764909180575"
+      rpy="-0.32308105919377 -0.0181645215163438 1.44824432616579E-05" />
+    <parent
+      link="right_thumb_rubber_3" />
+    <child
+      link="right_thumb_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_tip">
+    <inertial>
+      <origin
+        xyz="-2.47505902372935E-05 0.00144636195662112 -0.00180325741638071"
+        rpy="0 0 0" />
+      <mass
+        value="0.00017110035356973" />
+      <inertia
+        ixx="5.03295308586156E-10"
+        ixy="1.1038459890022E-12"
+        ixz="1.06224755236763E-12"
+        iyy="3.76514497106408E-10"
+        iyz="8.13921166925614E-11"
+        izz="5.79466758416002E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0.000137071096497604 0.0150376112085459 -0.00754156328997224"
+      rpy="-1.34664653486349 -0.0211118546108423 0.0134662732683287" />
+    <parent
+      link="right_thumb_rubber_3" />
+    <child
+      link="right_thumb_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_rubber_2">
+    <inertial>
+      <origin
+        xyz="0.000157140889199783 0.00288556596888331 -0.00905406193357969"
+        rpy="0 0 0" />
+      <mass
+        value="0.000712293475130305" />
+      <inertia
+        ixx="4.2089130115591E-08"
+        ixy="-1.40469831307445E-10"
+        ixz="1.37381961636698E-10"
+        iyy="5.19654488817118E-08"
+        iyz="8.47531049325099E-09"
+        izz="3.43756130398348E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="-0.00507 0.011874 0.0075"
+      rpy="-3.1416 1.5531 -2.094" />
+    <parent
+      link="right_thumb_3" />
+    <child
+      link="right_thumb_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_thumb_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.25123796278198E-05 -0.00265158184532596 -0.00524156527611314"
+        rpy="0 0 0" />
+      <mass
+        value="0.00149071340727244" />
+      <inertia
+        ixx="1.88775194707542E-07"
+        ixy="6.69255450794997E-11"
+        ixz="-4.00394969226036E-10"
+        iyy="8.68614474046453E-08"
+        iyz="-3.72017830861924E-09"
+        izz="2.26648080388043E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_rubber_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="-0.013047 0.031386 0.0079991"
+      rpy="-3.1382 1.5604 -2.1915" />
+    <parent
+      link="right_thumb_2" />
+    <child
+      link="right_thumb_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_1">
+    <inertial>
+      <origin
+        xyz="0.000461509522881251 0.0116512167073588 0.00590005205650069"
+        rpy="0 0 0" />
+      <mass
+        value="0.0088122715051036" />
+      <inertia
+        ixx="1.40236362118852E-06"
+        ixy="-1.11033984168461E-07"
+        ixz="-3.45534140604099E-13"
+        iyy="4.33624497078647E-07"
+        iyz="-8.02588111503433E-12"
+        izz="1.46958690770039E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.032168 0.13653"
+      rpy="1.5359 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_index_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_rubber_1">
+    <inertial>
+      <origin
+        xyz="4.12805956806483E-07 -0.000277556595871697 -0.00810725944560028"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100751145071282" />
+      <inertia
+        ixx="9.52705542669085E-08"
+        ixy="-6.53021203153016E-13"
+        ixz="2.06718585520476E-12"
+        iyy="6.33360703776505E-08"
+        iyz="-1.10143899913928E-08"
+        izz="8.2378637909334E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_index_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0058991"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_index_1" />
+    <child
+      link="right_index_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_2">
+    <inertial>
+      <origin
+        xyz="0.000846426534759137 0.0159697001083362 0.00510099034129251"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925229796570667" />
+      <inertia
+        ixx="8.02619712389298E-07"
+        ixy="-2.71403950553563E-07"
+        ixz="-3.30964974651296E-11"
+        iyy="2.63871633501356E-07"
+        iyz="-7.26892151274215E-11"
+        izz="9.31350792104698E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_index_1" />
+    <child
+      link="right_index_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_index_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_index_rubber_2">
+    <inertial>
+      <origin
+        xyz="-3.58356273424953E-06 0.0158538079871463 -0.000683080888343193"
+        rpy="0 0 0" />
+      <mass
+        value="0.00119003328901229" />
+      <inertia
+        ixx="1.35901045730651E-07"
+        ixy="-8.22113597047336E-11"
+        ixz="8.26751437859069E-12"
+        iyy="2.32704344501304E-08"
+        iyz="-1.5965157571134E-08"
+        izz="1.37434601512647E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_rubber_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0070147 0.012486 0.0050557"
+      rpy="1.6908 1.5638 1.5708" />
+    <parent
+      link="right_index_2" />
+    <child
+      link="right_index_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_pad">
+    <inertial>
+      <origin
+        xyz="-4.72675732283989E-06 -0.00107358726165793 -0.000867322927155814"
+        rpy="0 0 0" />
+      <mass
+        value="4.91580635340277E-05" />
+      <inertia
+        ixx="5.5578818727044E-11"
+        ixy="-2.56095658110701E-14"
+        ixz="3.01618774673413E-13"
+        iyy="6.99839853074953E-11"
+        iyz="-4.83794966411374E-12"
+        izz="1.11177015808293E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_index_pad_joint"
+    type="fixed">
+    <origin
+      xyz="3.00243817556722E-05 0.0237882080122733 0.00562165601406409"
+      rpy="0.0696904105640824 -4.36438134320539E-05 -0.000362025901862688" />
+    <parent
+      link="right_index_rubber_2" />
+    <child
+      link="right_index_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856665440566062 1.72386023511439E-08 -0.00102183804462784"
+        rpy="0 0 0" />
+      <mass
+        value="4.8581150755806E-05" />
+      <inertia
+        ixx="7.21518593802518E-11"
+        ixy="-8.82984500824386E-16"
+        ixz="-6.19021389144841E-12"
+        iyy="4.34288558152482E-11"
+        iyz="-6.09787415609971E-16"
+        izz="9.51176981115546E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_tip_joint"
+    type="fixed">
+    <origin
+      xyz="1.3021716642192E-05 0.0312210274719888 0.00245735122593096"
+      rpy="-0.0132578490113875 -1.15442763241846 -1.55866618437752" />
+    <parent
+      link="right_index_rubber_2" />
+    <child
+      link="right_index_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_1">
+    <inertial>
+      <origin
+        xyz="0.000461536885984493 0.0116516125222251 0.00589995181961714"
+        rpy="0 0 0" />
+      <mass
+        value="0.008812009704949" />
+      <inertia
+        ixx="1.40231746759186E-06"
+        ixy="-1.11031857346658E-07"
+        ixz="2.76776871415406E-13"
+        iyy="4.3361687442049E-07"
+        iyz="-2.06120095699905E-11"
+        izz="1.46953912178466E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 0.01285 0.1371"
+      rpy="1.5708 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_middle_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.03351059822493E-07 -0.000277151585263605 -0.00810672582334755"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100745318455656" />
+      <inertia
+        ixx="9.5260411594105E-08"
+        ixy="-6.69431445254942E-14"
+        ixz="2.63670575694768E-12"
+        iyy="6.33300913372493E-08"
+        iyz="-1.10094870847211E-08"
+        izz="8.23746545988052E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_middle_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0059"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_middle_1" />
+    <child
+      link="right_middle_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_2">
+    <inertial>
+      <origin
+        xyz="0.00141024346448289 0.0172292690724932 0.00510100142947595"
+        rpy="0 0 0" />
+      <mass
+        value="0.0100500190545245" />
+      <inertia
+        ixx="1.00699767773869E-06"
+        ixy="-3.53466950101424E-07"
+        ixz="-4.09738501779845E-11"
+        iyy="3.12317850665907E-07"
+        iyz="-8.97245492379795E-11"
+        izz="1.17274745258556E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_middle_1" />
+    <child
+      link="right_middle_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_middle_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_middle_rubber_2">
+    <inertial>
+      <origin
+        xyz="-7.78660795392946E-06 0.0179695960463814 -0.000804223911115579"
+        rpy="0 0 0" />
+      <mass
+        value="0.0013048811432833" />
+      <inertia
+        ixx="1.76860633231279E-07"
+        ixy="-1.72710567602084E-10"
+        ixz="1.86622775329523E-11"
+        iyy="2.52989855308437E-08"
+        iyz="-1.81372167935848E-08"
+        izz="1.78751424236927E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_middle_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0072845 0.012518 0.0050018"
+      rpy="1.7195 1.5657 1.5708" />
+    <parent
+      link="right_middle_2" />
+    <child
+      link="right_middle_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_pad">
+    <inertial>
+      <origin
+        xyz="-9.14565195887437E-06 -0.000840646466128969 -0.000949483924762157"
+        rpy="0 0 0" />
+      <mass
+        value="5.07972430810532E-05" />
+      <inertia
+        ixx="4.94396351444529E-11"
+        ixy="-7.91548004686604E-15"
+        ixz="5.40378231833977E-13"
+        iyy="7.44594898392844E-11"
+        iyz="-8.17507834331293E-13"
+        izz="1.05507123106656E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_middle_pad_joint"
+    type="fixed">
+    <origin
+      xyz="5.25438080711468E-05 0.0275018148385101 0.00545981715229053"
+      rpy="-0.00517966246514453 0 5.23567777294042E-05" />
+    <parent
+      link="right_middle_rubber_2" />
+    <child
+      link="right_middle_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_tip">
+    <inertial>
+      <origin
+        xyz="-0.000704283128653865 1.67839236536738E-08 -0.00102507470098162"
+        rpy="0 0 0" />
+      <mass
+        value="4.91005965538781E-05" />
+      <inertia
+        ixx="7.4817666907452E-11"
+        ixy="-2.50173118998556E-16"
+        ixz="-8.35780307730688E-12"
+        iyy="4.40425756472355E-11"
+        iyz="-5.5138528291299E-16"
+        izz="9.36024416007487E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_tip_joint"
+    type="fixed">
+    <origin
+      xyz="2.14438757245201E-05 0.0347938058137771 0.00223431434988275"
+      rpy="-0.0212852224193426 -1.10096720678329 -1.55181437467009" />
+    <parent
+      link="right_middle_rubber_2" />
+    <child
+      link="right_middle_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_1">
+    <inertial>
+      <origin
+        xyz="0.000461529808951755 0.0116516281013052 0.00589997080611728"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881199089266141" />
+      <inertia
+        ixx="1.40231626030129E-06"
+        ixy="-1.11031417680307E-07"
+        ixz="-4.11132319980449E-13"
+        iyy="4.33615995682151E-07"
+        iyz="-1.87827283697014E-11"
+        izz="1.46953842944211E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.006387 0.13691"
+      rpy="1.6232 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_ring_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_ring_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.21559770035084E-07 -0.00027711873325572 -0.00810658713183561"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100744692221204" />
+      <inertia
+        ixx="9.52590748325436E-08"
+        ixy="3.14419307320589E-13"
+        ixz="2.58919901199866E-12"
+        iyy="6.33292870038947E-08"
+        iyz="-1.10085765951351E-08"
+        izz="8.23741747990365E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_ring_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0059"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_ring_1" />
+    <child
+      link="right_ring_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_2">
+    <inertial>
+      <origin
+        xyz="0.000846433960369861 0.0159697337276641 0.00510097835693506"
+        rpy="0 0 0" />
+      <mass
+        value="0.00925228640460226" />
+      <inertia
+        ixx="8.02618879630184E-07"
+        ixy="-2.71404191071111E-07"
+        ixz="-3.36930516321696E-11"
+        iyy="2.63871764022255E-07"
+        iyz="-7.22696351064651E-11"
+        izz="9.31349226423688E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_ring_1" />
+    <child
+      link="right_ring_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_ring_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_ring_rubber_2">
+    <inertial>
+      <origin
+        xyz="3.86139388208794E-06 0.0158537656121268 -0.000683069774846418"
+        rpy="0 0 0" />
+      <mass
+        value="0.00119005024637797" />
+      <inertia
+        ixx="1.3590239064115E-07"
+        ixy="9.33554288461355E-11"
+        ixz="-8.65081377481482E-12"
+        iyy="2.32706293689469E-08"
+        iyz="-1.59652938631654E-08"
+        izz="1.37436006921243E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_ring_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.00685339412965266 0.0123693480371164 0.0050852021440689"
+      rpy="1.69435491572921 1.55693797492977 1.5707963267949" />
+    <parent
+      link="right_ring_2" />
+    <child
+      link="right_ring_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_pad">
+    <inertial>
+      <origin
+        xyz="4.93671885636732E-06 -0.00107358739426554 -0.000867321750761263"
+        rpy="0 0 0" />
+      <mass
+        value="4.91580616058684E-05" />
+      <inertia
+        ixx="5.55789971203642E-11"
+        ixy="2.82945412870402E-14"
+        ixz="-3.17865063864845E-13"
+        iyy="6.99839909074725E-11"
+        iyz="-4.83793120453107E-12"
+        izz="1.11176836090907E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_ring_pad_joint"
+    type="fixed">
+    <origin
+      xyz="-3.19252405448149E-05 0.023788208012268 0.0056216455404758"
+      rpy="0.069690128142456 5.13938714334209E-05 0.000413828517329857" />
+    <parent
+      link="right_ring_rubber_2" />
+    <child
+      link="right_ring_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_tip">
+    <inertial>
+      <origin
+        xyz="-0.000856664915059729 1.84558855672104E-08 -0.00102183703604269"
+        rpy="0 0 0" />
+      <mass
+        value="4.85811800950388E-05" />
+      <inertia
+        ixx="7.21518845124189E-11"
+        ixy="-9.06674000673522E-16"
+        ixz="-6.19024133610583E-12"
+        iyy="4.3428909706311E-11"
+        iyz="-6.22904562534474E-16"
+        izz="9.5117698350311E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_tip_joint"
+    type="fixed">
+    <origin
+      xyz="-1.40578386722194E-05 0.031221027471983 0.00245734551696726"
+      rpy="0.0139894535346192 -1.15442399923571 -1.58358580818303" />
+    <parent
+      link="right_ring_rubber_2" />
+    <child
+      link="right_ring_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_1">
+    <inertial>
+      <origin
+        xyz="0.000461535865007925 0.0116516313664518 0.00589997438900475"
+        rpy="0 0 0" />
+      <mass
+        value="0.00881199742105397" />
+      <inertia
+        ixx="1.4023164476314E-06"
+        ixy="-1.11031114078783E-07"
+        ixz="-6.64626469397567E-13"
+        iyy="4.33616376571531E-07"
+        iyz="-1.83961469266843E-11"
+        izz="1.46953909500208E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00028533 -0.025587 0.1357"
+      rpy="1.6755 0 0" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="right_little_1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.344277"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_little_rubber_1">
+    <inertial>
+      <origin
+        xyz="5.20179807662197E-07 -0.000277124687351721 -0.00810660245069689"
+        rpy="0 0 0" />
+      <mass
+        value="0.00100745340016915" />
+      <inertia
+        ixx="9.5259604318723E-08"
+        ixy="2.51290768845785E-13"
+        ixz="2.57994342884682E-12"
+        iyy="6.33296342901818E-08"
+        iyz="-1.10088384074955E-08"
+        izz="8.23744454855254E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_1.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_little_rubber_1_joint"
+    type="fixed">
+    <origin
+      xyz="0.010962 0.015475 0.0059"
+      rpy="1.5043 1.5708 1.5708" />
+    <parent
+      link="right_little_1" />
+    <child
+      link="right_little_rubber_1" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_2">
+    <inertial>
+      <origin
+        xyz="-9.65934753168612E-05 0.0131706385669229 0.00510089546104599"
+        rpy="0 0 0" />
+      <mass
+        value="0.00735975645438558" />
+      <inertia
+        ixx="4.52987650882817E-07"
+        ixy="-1.39947116144588E-07"
+        ixz="-1.99302269280599E-11"
+        iyy="1.74903368778748E-07"
+        iyz="-4.32909879787788E-11"
+        izz="5.20977818958806E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_2_joint"
+    type="revolute">
+    <origin
+      xyz="0.0071189 0.031334 0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="right_little_1" />
+    <child
+      link="right_little_2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.59562"
+      effort="1"
+      velocity="2" />
+      <mimic 
+        joint="right_little_1_joint"
+        multiplier="1.1169"
+        offset="-0.15" />
+  </joint>
+  <link
+    name="right_little_rubber_2">
+    <inertial>
+      <origin
+        xyz="1.62425876137906E-07 0.0112748945844156 -0.000128890409676133"
+        rpy="0 0 0" />
+      <mass
+        value="0.000944695125035103" />
+      <inertia
+        ixx="7.2727499654919E-08"
+        ixy="5.77567509581988E-13"
+        ixz="3.35299338499586E-13"
+        iyy="1.97518492029983E-08"
+        iyz="-1.31116172495388E-08"
+        izz="7.2809424232253E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_rubber_2.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_little_rubber_2_joint"
+    type="fixed">
+    <origin
+      xyz="0.0060598 0.012028 0.0051"
+      rpy="-1.5639 1.5708 -1.5708" />
+    <parent
+      link="right_little_2" />
+    <child
+      link="right_little_rubber_2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_pad">
+    <inertial>
+      <origin
+        xyz="1.18945155044847E-08 -0.000945393602624786 -0.000793542159615274"
+        rpy="0 0 0" />
+      <mass
+        value="4.11773981011346E-05" />
+      <inertia
+        ixx="3.93905948672135E-11"
+        ixy="-7.32805647857825E-16"
+        ixz="1.2637926765438E-16"
+        iyy="5.76290636184782E-11"
+        iyz="-3.06558460120779E-12"
+        izz="8.71440947947964E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_pad.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_pad.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  <!-- 动摩擦系数 -->
+                  <mu2>0.25</mu2> <!-- 静摩擦系数 -->
+              </ode>
+          </friction>
+      </surface>      
+    </collision>
+  </link>
+  <joint
+    name="right_little_pad_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.0158106591438756 0.00622450938719539"
+      rpy="0.234319161981939 0 0" />
+    <parent
+      link="right_little_rubber_2" />
+    <child
+      link="right_little_pad" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_little_tip">
+    <inertial>
+      <origin
+        xyz="-0.000679510924646992 -6.02486744175068E-09 -0.000989969384403724"
+        rpy="0 0 0" />
+      <mass
+        value="5.12498578797036E-05" />
+      <inertia
+        ixx="7.82782292969908E-11"
+        ixy="-1.7772592370017E-16"
+        ixz="-6.68409720589241E-12"
+        iyy="4.68632553260876E-11"
+        iyz="4.12841427346065E-17"
+        izz="1.00471412022202E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_tip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_little_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_little_tip_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.0235281291193636 0.00364793083244132"
+      rpy="0 -1.19148502417136 -1.57079698453249" />
+    <parent
+      link="right_little_rubber_2" />
+    <child
+      link="right_little_tip" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="plam">
+    <inertial>
+      <origin
+        xyz="-0.00487476115291697 -0.00792590594988131 0.000407287403626957"
+        rpy="0 0 0" />
+      <mass
+        value="0.0103872606312152" />
+      <inertia
+        ixx="4.32573922871556E-06"
+        ixy="-1.82977028647607E-06"
+        ixz="1.24432802967265E-07"
+        iyy="5.02164658586136E-06"
+        iyz="6.08810899531559E-07"
+        izz="9.01614152193276E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/plam.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549019607843137 0.0549019607843137 0.0549019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/plam.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="plam_joint"
+    type="fixed">
+    <origin
+      xyz="0.014363 -0.0044514 0.10148"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="r_base_link" />
+    <child
+      link="plam" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+RH56DFX/usd/.asset_hash b/Robots_p/ur5+RH56DFX/usd/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..2dab67d8dbca2b941c56bb8165924c988a86ef13
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/usd/.asset_hash
@@ -0,0 +1 @@
+cf4dd7f8f916d21d378bfc65971453a7
\ No newline at end of file
diff --git a/Robots_p/ur5+RH56DFX/usd/Multi_UR5_RH56DFX_with_flange.usd b/Robots_p/ur5+RH56DFX/usd/Multi_UR5_RH56DFX_with_flange.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e5e4c3c2035a7ae131a150bd6a0511b87e049f04
Binary files /dev/null and b/Robots_p/ur5+RH56DFX/usd/Multi_UR5_RH56DFX_with_flange.usd differ
diff --git a/Robots_p/ur5+RH56DFX/usd/config.yaml b/Robots_p/ur5+RH56DFX/usd/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d300bd661d46957d7b0c6f0e367b2e2c889e1413
--- /dev/null
+++ b/Robots_p/ur5+RH56DFX/usd/config.yaml
@@ -0,0 +1,23 @@
+asset_path: e:\EAI\dex2bench_dataset\Robots_p\ur5+RH56DFX\urdf\Multi_UR5_RH56DFX_with_flange.urdf
+usd_dir: e:\EAI\dex2bench_dataset\Robots_p\ur5+RH56DFX\usd_sdf_linux
+usd_file_name: Multi_UR5_RH56DFX_with_flange.usd
+force_usd_conversion: true
+make_instanceable: false
+fix_base: true
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-07-02 at 11:17:39.
+##
diff --git a/Robots_p/ur5+RH56DFX/usd/configuration/Multi_UR5_RH56DFX_with_flange_physics.usd b/Robots_p/ur5+RH56DFX/usd/configuration/Multi_UR5_RH56DFX_with_flange_physics.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f5b740b0462b929257c01325a3b25d6f52d29d43
Binary files /dev/null and b/Robots_p/ur5+RH56DFX/usd/configuration/Multi_UR5_RH56DFX_with_flange_physics.usd differ
diff --git a/Robots_p/ur5+RH56DFX/usd/configuration/Multi_UR5_RH56DFX_with_flange_robot.usd b/Robots_p/ur5+RH56DFX/usd/configuration/Multi_UR5_RH56DFX_with_flange_robot.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b846b4976b78a63c8e7e7592abdb620b9eb68ab3
Binary files /dev/null and b/Robots_p/ur5+RH56DFX/usd/configuration/Multi_UR5_RH56DFX_with_flange_robot.usd differ
diff --git a/Robots_p/ur5+RH56DFX/usd/configuration/Multi_UR5_RH56DFX_with_flange_sensor.usd b/Robots_p/ur5+RH56DFX/usd/configuration/Multi_UR5_RH56DFX_with_flange_sensor.usd
new file mode 100644
index 0000000000000000000000000000000000000000..070c30ac87f16e56dc0152cf6f107cb13da6dd58
Binary files /dev/null and b/Robots_p/ur5+RH56DFX/usd/configuration/Multi_UR5_RH56DFX_with_flange_sensor.usd differ
diff --git a/Robots_p/ur5+RH5DG2/meshes/hand_left/left_index_pitch.STL b/Robots_p/ur5+RH5DG2/meshes/hand_left/left_index_pitch.STL
new file mode 100644
index 0000000000000000000000000000000000000000..d540cb3c949d651bfe9e8c1dc039d99be8938ec0
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/meshes/hand_left/left_index_pitch.STL differ
diff --git a/Robots_p/ur5+RH5DG2/meshes/hand_left/left_middle_pitch.STL b/Robots_p/ur5+RH5DG2/meshes/hand_left/left_middle_pitch.STL
new file mode 100644
index 0000000000000000000000000000000000000000..68adc4dfaa3e15cdcb176c550133653fc83b0e42
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/meshes/hand_left/left_middle_pitch.STL differ
diff --git a/Robots_p/ur5+RH5DG2/meshes/hand_left/left_thumb_yaw.STL b/Robots_p/ur5+RH5DG2/meshes/hand_left/left_thumb_yaw.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ab6aa669477c9e982a392d42684cf7888a295c37
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/meshes/hand_left/left_thumb_yaw.STL differ
diff --git a/Robots_p/ur5+RH5DG2/meshes/hand_right/right_index_pitch.STL b/Robots_p/ur5+RH5DG2/meshes/hand_right/right_index_pitch.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2e242b1b5209f53338560ecb9ee1f2dcdfdc94ce
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/meshes/hand_right/right_index_pitch.STL differ
diff --git a/Robots_p/ur5+RH5DG2/meshes/hand_right/right_middle_pitch.STL b/Robots_p/ur5+RH5DG2/meshes/hand_right/right_middle_pitch.STL
new file mode 100644
index 0000000000000000000000000000000000000000..16409579842e7f291cdd5abbce684ebcb771dea4
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/meshes/hand_right/right_middle_pitch.STL differ
diff --git a/Robots_p/ur5+RH5DG2/meshes/hand_right/right_thumb_yaw.STL b/Robots_p/ur5+RH5DG2/meshes/hand_right/right_thumb_yaw.STL
new file mode 100644
index 0000000000000000000000000000000000000000..fae317ff495adf52bd9e6502b4ccad0d67eea129
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/meshes/hand_right/right_thumb_yaw.STL differ
diff --git a/Robots_p/ur5+RH5DG2/meshes/ur5/collision/base.stl b/Robots_p/ur5+RH5DG2/meshes/ur5/collision/base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4eb2f7eb38493e36b16587650cd65c516ea27766
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/meshes/ur5/collision/base.stl differ
diff --git a/Robots_p/ur5+RH5DG2/meshes/ur5/collision/forearm.stl b/Robots_p/ur5+RH5DG2/meshes/ur5/collision/forearm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ffbed4536ef7c23c7691736124e161a226546bb9
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/meshes/ur5/collision/forearm.stl differ
diff --git a/Robots_p/ur5+RH5DG2/meshes/ur5/collision/left_thumb_1.STL b/Robots_p/ur5+RH5DG2/meshes/ur5/collision/left_thumb_1.STL
new file mode 100644
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--- /dev/null
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34 819 34 1454 34 1454 1138 819 1138 1440 1138 1454 1139 1440 1139 1441 1139 823 1140 1380 1140 1336 1140 823 1141 1336 1141 822 1141 883 34 947 34 1437 34 1437 34 947 34 815 34 1437 1142 815 1142 816 1142 812 34 813 34 947 34 947 1143 813 1143 814 1143 947 34 814 34 815 34 808 34 957 34 807 34 807 34 957 34 806 34 1380 34 1381 34 1336 34 1336 1144 1381 1144 1725 1144 1336 34 1725 34 890 34 890 1145 1725 1145 803 1145 890 34 803 34 1281 34 1281 1146 803 1146 804 1146 1281 1147 804 1147 957 1147 957 1148 804 1148 805 1148 957 1149 805 1149 806 1149 808 34 809 34 957 34 957 1150 809 1150 810 1150 957 34 810 34 947 34 947 34 810 34 811 34 947 1151 811 1151 812 1151 1336 1152 888 1152 887 1152 1441 34 822 34 1454 34 1454 34 822 34 1336 34 1454 1153 1336 1153 1487 1153 1487 1154 1336 1154 887 1154 877 1155 878 1155 957 1155 957 1156 878 1156 875 1156 875 1157 1251 1157 957 1157 957 34 1251 34 1795 34 957 1158 1795 1158 1281 1158 1568 1159 958 1159 1661 1159 1661 1160 958 1160 948 1160 1661 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+        </triangles>
+        <triangles material="Scheibe-material" count="137">
+          <input semantic="VERTEX" source="#ActorShape0_0-Mesh_021-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ActorShape0_0-Mesh_021-mesh-normals" offset="1"/>
+          <p>1180 1180 1053 1180 1054 1180 1094 1181 1095 1181 1271 1181 1271 1182 1095 1182 1041 1182 1021 1183 8 1183 1468 1183 1180 1184 10 1184 1053 1184 1053 1185 10 1185 11 1185 1053 1186 11 1186 12 1186 8 1187 1021 1187 1271 1187 1271 1188 1021 1188 1022 1188 1271 1189 1022 1189 1094 1189 1054 1190 1038 1190 1180 1190 1180 1191 1038 1191 1021 1191 1180 1192 1021 1192 1284 1192 1284 1193 1021 1193 1468 1193 1041 1194 16 1194 1271 1194 1271 1195 16 1195 1812 1195 1271 1196 1812 1196 1504 1196 12 1197 1192 1197 1053 1197 1053 1198 1192 1198 1859 1198 1053 1199 1859 1199 21 1199 21 1200 1859 1200 22 1200 21 1201 22 1201 23 1201 144 1202 145 1203 17 1204 146 1205 9 1206 147 1207 147 1207 9 1206 1272 1208 147 1207 1272 1208 148 1209 148 1209 1272 1208 149 1210 150 1211 5 1212 151 1213 151 1213 5 1212 18 1214 151 1213 18 1214 152 1215 150 1211 153 1216 5 1212 5 1212 153 1216 1640 1217 5 1212 1640 1217 1272 1208 1272 1208 1640 1217 1781 1218 1272 1208 1781 1218 149 1210 156 1219 157 1220 18 1214 18 1214 157 1220 158 1221 18 1222 158 1222 152 1222 17 1204 145 1203 18 1214 18 1214 145 1203 159 1223 18 1214 159 1223 156 1219 160 1224 161 1225 1042 1226 1042 1226 161 1225 162 1227 1042 1226 162 1227 17 1204 17 1204 162 1227 163 1228 17 1204 163 1228 144 1202 164 1229 165 1230 4 1231 4 1231 165 1230 166 1232 4 1231 166 1232 6 1233 6 1234 166 1234 1801 1234 6 1233 1801 1235 1042 1226 1042 1226 1801 1235 1700 1236 1042 1226 1700 1236 160 1224 169 1237 170 1238 3 1239 3 1239 170 1238 171 1240 3 1239 171 1240 4 1231 4 1231 171 1240 172 1241 4 1231 172 1241 164 1229 13 1242 173 1242 174 1242 174 1243 175 1244 13 1245 13 1245 175 1244 176 1246 13 1245 176 1246 3 1239 3 1239 176 1246 177 1247 3 1239 177 1247 169 1237 178 1248 179 1249 7 1250 7 1250 179 1249 180 1251 7 1250 180 1251 13 1245 13 1245 180 1251 181 1252 13 1253 181 1253 173 1253 178 1248 7 1250 182 1254 182 1254 7 1250 14 1255 182 1254 14 1255 183 1256 2 1257 184 1258 185 1259 185 1259 186 1260 2 1257 2 1257 186 1260 187 1261 2 1257 187 1261 14 1255 14 1255 187 1261 188 1262 14 1255 188 1262 183 1256 189 1263 190 1264 1 1265 1 1265 190 1264 191 1266 1 1265 191 1266 2 1257 2 1257 191 1266 192 1267 2 1257 192 1267 184 1258 1841 1268 1423 1269 194 1270 194 1270 1423 1269 1897 1271 1841 1268 1814 1272 1423 1269 1423 1269 1814 1272 1805 1273 1423 1269 1805 1273 1 1265 1 1265 1805 1273 197 1274 1 1265 197 1274 189 1263 198 1275 199 1276 1897 1271 199 1276 200 1277 1897 1271 1897 1278 200 1278 201 1278 1897 1271 201 1279 194 1270 20 1280 202 1281 1896 1282 1896 1282 202 1281 203 1283 203 1283 204 1284 1896 1282 1896 1282 204 1284 205 1285 1896 1282 205 1285 1897 1271 1897 1271 205 1285 206 1286 1897 1271 206 1286 198 1275 207 1287 208 1288 20 1280 208 1288 209 1289 20 1280 20 1280 209 1289 210 1290 20 1280 210 1290 202 1281 207 1287 20 1280 211 1291 211 1291 20 1280 19 1292 211 1291 19 1292 212 1293 212 1293 19 1292 1191 1294 212 1293 1191 1294 213 1295 214 1296 1620 1297 1541 1298 1541 1298 1620 1297 1660 1299 1541 1298 1660 1299 1191 1294 1191 1294 1660 1299 1610 1300 1191 1294 1610 1300 213 1295 1181 1301 1567 1301 1731 1301 1731 1302 1720 1303 1181 1304 1181 1304 1720 1303 1438 1305 1181 1304 1438 1305 1541 1298 1541 1298 1438 1305 1439 1306 1541 1298 1439 1306 214 1296 1525 1307 1526 1308 0 1309 0 1309 1526 1308 1377 1310 0 1309 1377 1310 1181 1304 1181 1304 1377 1310 1378 1311 1181 1312 1378 1312 1567 1312 1525 1307 0 1309 1337 1313 1337 1313 0 1309 15 1314 1337 1313 15 1314 1338 1315 146 1205 1299 1316 9 1206 9 62 1299 62 1239 62 9 1206 1239 1317 231 1318 231 1318 232 1319 9 1206 9 1206 232 1319 233 1320 9 1206 233 1320 15 1314 15 1314 233 1320 234 1321 15 1314 234 1321 1338 1315</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_021-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rohr-material" target="#Rohr-material"/>
+              <instance_material symbol="Scheibe-material" target="#Scheibe-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH5DG2/meshes/ur5/visual/forearm.dae b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/forearm.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6e657554f4a309d6cc6f5fc14c58e7537d5215a0
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/forearm.dae
@@ -0,0 +1,382 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:48:54</created>
+    <modified>2018-07-11T13:48:54</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="blau_005-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.25088 0.34752 0.4096 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.0625 0.0625 0.0625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Rohr_005-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.41984 0.41984 0.41984 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.0625 0.0625 0.0625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="verbindung_005-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.14272 0.14272 0.14272 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.0625 0.0625 0.0625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="blau_005-material" name="blau_005">
+      <instance_effect url="#blau_005-effect"/>
+    </material>
+    <material id="Rohr_005-material" name="Rohr_005">
+      <instance_effect url="#Rohr_005-effect"/>
+    </material>
+    <material id="verbindung_005-material" name="verbindung_005">
+      <instance_effect url="#verbindung_005-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ActorShape0_0-Mesh_029-mesh" name="ActorShape0_0-Mesh.029">
+      <mesh>
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+      </mesh>
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+  </library_geometries>
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+        <instance_camera url="#Camera-camera"/>
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+      <node id="Lamp" name="Lamp" type="NODE">
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+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0_001" name="Actor0_001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_029-mesh" name="Actor0_001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau_005-material" target="#blau_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_021-mesh" name="Actor1">
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+              <instance_material symbol="Rohr_005-material" target="#Rohr_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor2" name="Actor2" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape2_0-Mesh_012-mesh" name="Actor2">
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+              <instance_material symbol="verbindung_005-material" target="#verbindung_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor3" name="Actor3" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape3_0-Mesh_012-mesh" name="Actor3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="verbindung_005-material" target="#verbindung_005-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Robots_p/ur5+RH5DG2/meshes/ur5/visual/shoulder.dae b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/shoulder.dae
new file mode 100644
index 0000000000000000000000000000000000000000..8feb681bdb5dab0f83af432ae0ad6594267f6fe0
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/shoulder.dae
@@ -0,0 +1,304 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:44:23</created>
+    <modified>2018-07-11T13:44:23</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="verbindung-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
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+            </diffuse>
+            <specular>
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+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Scheibe-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
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+      </profile_COMMON>
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+  </library_effects>
+  <library_materials>
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 -1.565e-7 0 0 1 -1.565e-7 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_023-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="verbindung-material" target="#verbindung-material"/>
+              <instance_material symbol="Scheibe-material" target="#Scheibe-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 -1.565e-7 0 0 1 1.565e-7 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_017-mesh" name="Actor1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau-material" target="#blau-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH5DG2/meshes/ur5/visual/upperarm.dae b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/upperarm.dae
new file mode 100644
index 0000000000000000000000000000000000000000..fca6491758b388828eb7d098adf7865c26e0125c
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/upperarm.dae
@@ -0,0 +1,465 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:54:06</created>
+    <modified>2018-07-11T13:54:06</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
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2326 2359 2405 2588 2405 1946 2405 1946 2406 2588 2406 2092 2406 1946 2407 2092 2407 2349 2407 2349 2326 2092 2326 2093 2326 2349 2408 2093 2408 2230 2408 2230 2326 2093 2326 2094 2326 2230 2409 2094 2409 2231 2409 2231 2326 2094 2326 2444 2326 2231 2410 2444 2410 2435 2410 1399 2326 1415 2326 2099 2326 2099 2411 1415 2411 1159 2411 2099 2412 1159 2412 2100 2412 2100 2413 1159 2413 1158 2413 2100 2326 1158 2326 2073 2326 2258 2326 1307 2326 2223 2326 2223 2414 1307 2414 2240 2414 2223 2326 2240 2326 1309 2326</p>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_024-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="verbindung-material" target="#verbindung-material"/>
+              <instance_material symbol="Scheibe-material" target="#Scheibe-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_018-mesh" name="Actor1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau-material" target="#blau-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor2" name="Actor2" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape2_0-Mesh_011-mesh" name="Actor2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="verbindung-material" target="#verbindung-material"/>
+              <instance_material symbol="Scheibe-material" target="#Scheibe-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor3" name="Actor3" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape3_0-Mesh_011-mesh" name="Actor3">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rohr-material" target="#Rohr-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor4" name="Actor4" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape4_0-Mesh_004-mesh" name="Actor4">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau-material" target="#blau-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/Robots_p/ur5+RH5DG2/meshes/ur5/visual/wrist1.dae b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/wrist1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..3baee37a006e997e4c8929cb99efc9fca0ff71c0
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/wrist1.dae
@@ -0,0 +1,304 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:55:14</created>
+    <modified>2018-07-11T13:55:14</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 0.9999999 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_025-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Scheibe_001-material" target="#Scheibe_001-material"/>
+              <instance_material symbol="verbindung_001-material" target="#verbindung_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 0.9999999 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_019-mesh" name="Actor1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau_001-material" target="#blau_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH5DG2/meshes/ur5/visual/wrist2.dae b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/wrist2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..53e52f368cf7afc559d7f590751ec0f5b23d9bed
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/wrist2.dae
@@ -0,0 +1,304 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:56:40</created>
+    <modified>2018-07-11T13:56:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Scheibe_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.0512 0.0512 0.0512 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.0625 0.0625 0.0625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="verbindung_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.14272 0.14272 0.14272 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.0625 0.0625 0.0625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="blau_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.25088 0.34752 0.4096 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.0625 0.0625 0.0625 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">1</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Scheibe_002-material" name="Scheibe_002">
+      <instance_effect url="#Scheibe_002-effect"/>
+    </material>
+    <material id="verbindung_002-material" name="verbindung_002">
+      <instance_effect url="#verbindung_002-effect"/>
+    </material>
+    <material id="blau_002-material" name="blau_002">
+      <instance_effect url="#blau_002-effect"/>
+    </material>
+  </library_materials>
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+          <technique_common>
+            <accessor source="#ActorShape1_0-Mesh_020-mesh-normals-array" count="6460" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ActorShape1_0-Mesh_020-mesh-vertices">
+          <input semantic="POSITION" source="#ActorShape1_0-Mesh_020-mesh-positions"/>
+        </vertices>
+        <triangles material="blau_002-material" count="10694">
+          <input semantic="VERTEX" source="#ActorShape1_0-Mesh_020-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ActorShape1_0-Mesh_020-mesh-normals" offset="1"/>
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6372 5330 6372 5330 6373 5331 6373 5656 6373 5656 6374 5331 6374 5333 6374 5656 6375 5333 6375 5332 6375 5342 6376 5343 6376 5656 6376 5321 6377 5322 6377 5261 6377 5261 6378 5322 6378 5323 6378 5261 6379 5323 6379 5246 6379 5246 6380 5245 6380 5261 6380 5261 6381 5245 6381 5861 6381 5261 6382 5861 6382 5325 6382 5656 6383 5260 6383 5327 6383 5327 6384 5260 6384 5261 6384 5327 6385 5261 6385 5328 6385 5328 6386 5261 6386 5329 6386 5332 6387 5334 6387 5656 6387 5656 6388 5334 6388 5335 6388 5656 6389 5335 6389 5337 6389 5266 6390 5267 6390 5313 6390 5313 6391 5267 6391 5268 6391 5313 6392 5268 6392 5269 6392 5269 6393 5270 6393 5313 6393 5313 6394 5270 6394 5271 6394 5313 6395 5271 6395 5272 6395 5272 6396 5273 6396 5313 6396 5313 6397 5273 6397 5274 6397 5313 6398 5274 6398 5314 6398 5576 6399 5256 6399 5575 6399 5285 6400 5286 6400 5307 6400 5337 6401 5336 6401 5656 6401 5656 6402 5336 6402 5338 6402 5656 6403 5338 6403 5341 6403 5341 6404 5340 6404 5656 6404 5656 6405 5340 6405 5339 6405 5656 6406 5339 6406 5342 6406 5575 6407 5587 6407 5250 6407 5250 6408 5587 6408 5656 6408 5250 6409 5656 6409 5730 6409 5275 6410 5276 6410 5307 6410 5295 6411 5296 6411 5307 6411 5275 6412 5307 6412 5274 6412 5274 6413 5307 6413 5992 6413 5274 6414 5992 6414 5310 6414 5310 6415 5311 6415 5274 6415 5274 6416 5311 6416 5312 6416 5274 6417 5312 6417 5314 6417 5343 6418 5345 6418 5656 6418 5656 6419 5345 6419 5344 6419 5656 6420 5344 6420 5346 6420 5346 6421 5347 6421 5656 6421 5656 6422 5347 6422 5348 6422 5656 6423 5348 6423 5736 6423 5736 6424 5735 6424 5656 6424 5656 6425 5735 6425 5747 6425 5656 6426 5747 6426 5730 6426 5250 6427 5253 6427 5575 6427 5575 6428 5253 6428 5554 6428 5575 6429 5554 6429 5576 6429 5576 6430 5554 6430 5254 6430 5304 6431 5305 6431 5306 6431 5276 6432 5277 6432 5307 6432 5307 6433 5277 6433 5278 6433 5307 6434 5278 6434 5279 6434 5279 6435 5280 6435 5307 6435 5307 6436 5280 6436 5281 6436 5307 6437 5281 6437 5282 6437 5282 6438 5283 6438 5307 6438 5307 6439 5283 6439 5284 6439 5307 6440 5284 6440 5285 6440 5286 6441 5287 6441 5307 6441 5307 6442 5287 6442 5288 6442 5307 6443 5288 6443 5289 6443 5296 6444 5298 6444 5307 6444 5307 6445 5298 6445 5297 6445 5307 6446 5297 6446 5299 6446 5299 6447 5300 6447 5307 6447 5307 6448 5300 6448 5301 6448 5307 6449 5301 6449 5302 6449 5308 6450 5307 6450 5306 6450 5306 6451 5307 6451 5302 6451 5306 6452 5302 6452 5304 6452 5304 6453 5302 6453 5303 6453 5289 6454 5290 6454 5307 6454 5307 6455 5290 6455 5291 6455 5307 6456 5291 6456 5292 6456 5292 6457 5293 6457 5307 6457 5307 6458 5293 6458 5294 6458 5307 6459 5294 6459 5295 6459</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0" name="Actor0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_026-mesh" name="Actor0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Scheibe_002-material" target="#Scheibe_002-material"/>
+              <instance_material symbol="verbindung_002-material" target="#verbindung_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Actor1" name="Actor1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape1_0-Mesh_020-mesh" name="Actor1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="blau_002-material" target="#blau_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH5DG2/meshes/ur5/visual/wrist3.dae b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/wrist3.dae
new file mode 100644
index 0000000000000000000000000000000000000000..a01700d81f020126c1b9649e31f10e5b80427e15
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/meshes/ur5/visual/wrist3.dae
@@ -0,0 +1,233 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-07-11T13:57:50</created>
+    <modified>2018-07-11T13:57:50</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
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+        </triangles>
+        <triangles material="SWMaterial-1_004_002_001-material" count="436">
+          <input semantic="VERTEX" source="#ActorShape0_0-Mesh_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#ActorShape0_0-Mesh_003-mesh-normals" offset="1"/>
+          <p>865 31 866 31 904 31 979 811 974 811 971 811 989 31 905 31 1257 31 1257 812 905 812 904 812 1257 31 904 31 1046 31 1046 31 904 31 866 31 10 31 990 31 1053 31 971 813 974 813 991 813 991 31 974 31 904 31 904 814 974 814 14 814 904 815 14 815 865 815 989 31 1257 31 990 31 990 816 1257 816 1227 816 990 817 1227 817 1053 817 971 818 16 818 17 818 17 819 18 819 971 819 971 820 18 820 19 820 971 31 19 31 979 31 20 821 21 821 22 821 22 822 21 822 23 822 22 823 23 823 24 823 20 824 22 824 1053 824 1053 825 22 825 1078 825 1053 826 1078 826 10 826 26 19 27 19 28 19 29 19 30 19 31 19 26 19 28 19 31 19 31 19 28 19 32 19 31 19 32 19 29 19 27 19 33 19 28 19 28 19 33 19 1409 19 28 19 1409 19 1427 19 1427 19 36 19 28 19 28 19 36 19 37 19 28 19 37 19 1301 19 39 19 40 19 1487 19 1194 19 1448 19 30 19 30 19 1448 19 1196 19 30 19 1196 19 31 19 45 19 46 19 47 19 47 19 46 19 48 19 1194 19 49 19 1448 19 1448 19 49 19 48 19 1448 19 48 19 1449 19 1449 19 48 19 46 19 1301 19 37 19 1487 19 1487 19 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722 25 764 938 1221 939 1534 939 1534 939 1221 939 1000 940 1534 939 1000 940 1466 940 1466 940 1000 940 775 941 1466 940 775 941 1467 941 1467 941 775 941 1577 942 1467 941 1577 942 1569 942 1569 942 1577 942 1091 943 1569 942 1091 943 1615 943 1615 943 1091 943 1090 944 1615 943 1090 944 1627 20 1627 20 1090 944 1292 945 1627 20 1292 945 1606 19 1606 19 1292 945 788 946 1606 19 788 946 1605 946 1605 946 788 946 787 947 1605 946 787 947 1404 947 1404 947 787 947 786 948 1404 947 786 948 753 948 753 948 786 948 785 925 753 948 785 925 1455 925 1455 925 785 925 784 949 1455 925 784 949 1454 949 1454 949 784 949 772 950 1454 949 772 950 1403 950 1403 950 772 950 1568 951 1403 950 1568 951 1307 951 1307 951 1568 951 1567 952 1307 951 1567 952 1308 952 1308 952 1567 952 1592 953 1308 952 1592 953 759 953 759 953 1592 953 1557 954 759 953 1557 954 757 954 757 954 1557 954 1478 32 757 954 1478 32 758 32 758 32 1478 32 783 31 758 32 783 31 762 31 762 31 783 31 782 881 762 31 782 881 760 881 760 881 782 881 781 933 760 881 781 933 761 933 761 933 781 933 780 381 761 933 780 381 1438 381 1438 381 780 381 779 955 1438 381 779 955 763 955 763 955 779 955 778 938 763 955 778 938 764 938 764 938 778 938 1221 939 1222 895 1465 956 793 939 793 939 1465 956 1186 375 793 939 1186 375 791 375 791 375 1186 375 1185 957 791 375 1185 957 792 958 792 958 1185 957 1379 959 792 958 1379 959 796 959 796 959 1379 959 1217 960 796 959 1217 960 794 960 794 960 1217 960 1216 961 794 960 1216 961 795 961 795 961 1216 961 838 962 795 961 838 962 799 963 799 963 838 962 837 946 799 963 837 946 797 964 797 964 837 946 836 965 797 964 836 965 798 965 798 965 836 965 835 966 798 965 835 966 802 966 802 966 835 966 834 967 802 966 834 967 800 967 800 967 834 967 833 968 800 967 833 968 801 968 801 968 833 968 821 969 801 968 821 969 805 950 805 950 821 969 1335 970 805 950 1335 970 1163 970 1163 970 1335 970 1334 971 1163 970 1334 971 804 971 804 971 1334 971 820 972 804 971 820 972 808 972 808 972 820 972 819 973 808 972 819 973 806 973 806 973 819 973 818 32 806 973 818 32 807 32 807 32 818 32 1245 974 807 32 1245 974 1582 974 1582 974 1245 974 1518 912 1582 974 1518 912 809 912 809 912 1518 912 1517 975 809 912 1517 975 1614 975 1614 975 1517 975 1533 976 1614 975 1533 976 814 976 814 976 1533 976 1489 977 814 976 1489 977 1345 978 1345 978 1489 977 1477 895 1345 978 1477 895 1222 895 1222 895 1477 895 1465 956</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Actor0_001" name="Actor0_001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#ActorShape0_0-Mesh_003-mesh" name="Actor0_001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Rohr_007_001-material" target="#Rohr_007_001-material"/>
+              <instance_material symbol="SWMaterial-1_004_002_001-material" target="#SWMaterial-1_004_002_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_index_force_sensor.mtl b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_index_force_sensor.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_index_force_sensor.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_index_force_sensor.obj b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_index_force_sensor.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2544837f6be61517fe4ea3c40606a7d9eb3b194b
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_index_force_sensor.obj
@@ -0,0 +1,8320 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_left_index_force_sensor.mtl
+o left_index_force_sensor
+v 0.004805 -0.001816 -0.003933
+v 0.004486 -0.001672 -0.004098
+v 0.004209 -0.002058 0.007756
+v 0.004092 -0.002028 0.007997
+v 0.004192 -0.002089 0.008068
+v 0.004379 -0.002171 0.007891
+v 0.004285 -0.002159 0.008167
+v 0.004513 -0.002290 0.008074
+v 0.004357 -0.002230 0.008285
+v 0.004405 -0.002297 0.008419
+v 0.004599 -0.002405 0.008294
+v 0.004604 -0.002414 0.008313
+v 0.004408 -0.002303 0.008433
+v 0.004608 -0.002422 0.008332
+v 0.004630 -0.002496 0.008513
+v 0.004425 -0.002359 0.008571
+v 0.004630 -0.002502 0.008529
+v 0.004416 -0.002406 0.008712
+v 0.004606 -0.002579 0.008777
+v 0.004057 -0.002640 0.009535
+v 0.003762 -0.002429 0.009420
+v 0.003833 -0.002601 0.009629
+v 0.003619 -0.002394 0.009438
+v 0.003598 -0.002546 0.009668
+v 0.003474 -0.002352 0.009430
+v 0.003357 -0.002475 0.009650
+v 0.003335 -0.002304 0.009396
+v 0.003131 -0.002392 0.009575
+v 0.003518 -0.002119 0.009278
+v 0.003352 -0.002053 0.009211
+v 0.003197 -0.002245 0.009329
+v 0.003035 -0.002351 0.009523
+v 0.003673 -0.002167 0.009292
+v 0.003703 -0.002175 0.009290
+v 0.004145 -0.002482 0.009218
+v 0.004077 -0.002233 0.009126
+v 0.004039 -0.002231 0.009157
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diff --git a/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_thumb_force_sensor.mtl b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_thumb_force_sensor.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_thumb_force_sensor.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_thumb_force_sensor.obj b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_thumb_force_sensor.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8847872c381d66cb9bfa5942608c7ee5d0cbf7
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_left_thumb_force_sensor.obj
@@ -0,0 +1,8997 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_left_thumb_force_sensor.mtl
+o left_thumb_force_sensor
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diff --git a/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_rightOthumb_force_sensor.mtl b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_rightOthumb_force_sensor.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_rightOthumb_force_sensor.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_rightOthumb_force_sensor.obj b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_rightOthumb_force_sensor.obj
new file mode 100644
index 0000000000000000000000000000000000000000..065237880160145ff8302ffe199b5aa856b7a598
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_rightOthumb_force_sensor.obj
@@ -0,0 +1,15365 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_rightOthumb_force_sensor.mtl
+o right_thumb_force_sensor
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diff --git a/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_right_index_force_sensor.mtl b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_right_index_force_sensor.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_right_index_force_sensor.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_right_index_force_sensor.obj b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_right_index_force_sensor.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4eb8aa77e8bdfb5adb4d18612f65425cc214bec
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/tactile_sensor/tactile_right_index_force_sensor.obj
@@ -0,0 +1,14824 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_right_index_force_sensor.mtl
+o right_index_force_sensor
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diff --git a/Robots_p/ur5+RH5DG2/urdf/Left_Hand.urdf b/Robots_p/ur5+RH5DG2/urdf/Left_Hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0732ef26d68051307134e7192ce45b588c7831c2
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/urdf/Left_Hand.urdf
@@ -0,0 +1,1582 @@
+<?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: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot name="RH5DG2_L_2026_01_12">
+  <link
+    name="left_hand_flange">
+    <inertial>
+      <origin
+        xyz="0.000590322130432752 4.41124712313723E-08 0.018658174252011"
+        rpy="0 0 0" />
+      <mass
+        value="0.081627243194173" />
+      <inertia
+        ixx="2.75104643743656E-05"
+        ixy="5.12393523587802E-11"
+        ixz="3.1718200992143E-08"
+        iyy="2.64222033522155E-05"
+        iyz="-9.18935840440908E-12"
+        izz="3.62935316168479E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.03"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_flange" />
+    <child
+      link="left_hand_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_hand_base">
+    <inertial>
+      <origin
+        xyz="0.00476779611391661 -0.00175443650333851 0.0587982955062078"
+        rpy="0 0 0" />
+      <mass
+        value="0.31337820291855" />
+      <inertia
+        ixx="0.000279000366417088"
+        ixy="-5.97993292268341E-06"
+        ixz="-1.05033856695153E-05"
+        iyy="0.000216316347892288"
+        iyz="1.4210833856168E-05"
+        izz="0.000114395570521506" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_thumb_yaw">
+    <inertial>
+      <origin
+        xyz="0.000851891383030774 -0.00483573175773916 -0.00574146645894136"
+        rpy="0 0 0" />
+      <mass
+        value="0.00481739894285163" />
+      <inertia
+        ixx="1.77884271480388E-07"
+        ixy="1.48522080685373E-08"
+        ixz="-1.10224294372931E-09"
+        iyy="9.58668288233385E-08"
+        iyz="-5.5776293980979E-11"
+        izz="1.65931166990387E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_yaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_yaw.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.021 -0.021699 0.04175"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_thumb_yaw" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.92"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_mcp">
+    <inertial>
+      <origin
+        xyz="-0.0251945178412399 0.00470177554341608 -0.00721123225273899"
+        rpy="0 0 0" />
+      <mass
+        value="0.0417558487107307" />
+      <inertia
+        ixx="4.59982517501995E-06"
+        ixy="1.45476527663314E-06"
+        ixz="-5.57455414212812E-09"
+        iyy="6.84084011018754E-06"
+        iyz="6.02057975741715E-09"
+        izz="8.65410202531359E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084186 -0.010193 -0.01022"
+      rpy="1.7453 0 1.7453" />
+    <parent
+      link="left_thumb_yaw" />
+    <child
+      link="left_thumb_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.6632"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_pip">
+    <inertial>
+      <origin
+        xyz="-0.0196407670570219 0.00242380087447701 -0.0109191513474222"
+        rpy="0 0 0" />
+      <mass
+        value="0.0413815384223489" />
+      <inertia
+        ixx="4.9686066477999E-06"
+        ixy="1.31917592849383E-06"
+        ixz="-8.87180077960401E-09"
+        iyy="6.85470350393852E-06"
+        iyz="4.36126634540719E-09"
+        izz="8.67826738799969E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.043727 0.01749 0.0036"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_mcp" />
+    <child
+      link="left_thumb_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.041888"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_thumb_mcp_joint"
+        multiplier="1.0853"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_thumb_dip">
+    <inertial>
+      <origin
+        xyz="-0.0129223062507652 -0.00448889527590449 -0.00799771788559279"
+        rpy="0 0 0" />
+      <mass
+        value="0.0073764770439235" />
+      <inertia
+        ixx="4.78976513280882E-07"
+        ixy="3.84556931848967E-08"
+        ixz="1.02110225470547E-10"
+        iyy="8.07505501706801E-07"
+        iyz="-7.92203147492935E-11"
+        izz="8.31360546482169E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.036427 0.019902 -0.0028"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_pip" />
+    <child
+      link="left_thumb_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.03"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.67299529038739E-05 0.00563393604355955 -0.0055985469152464"
+        rpy="0 0 0" />
+      <mass
+        value="0.00085577183134953" />
+      <inertia
+        ixx="4.07064916891433E-08"
+        ixy="2.20186833718841E-12"
+        ixz="4.46928677357564E-12"
+        iyy="1.83895191923608E-08"
+        iyz="9.40855973846822E-09"
+        izz="5.14761959804735E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="-0.025343 0.0072822 -0.0079999"
+      rpy="1.3535 -1.5705 -2.7497" />
+    <parent
+      link="left_thumb_dip" />
+    <child
+      link="left_thumb_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367355624943706 -0.000210165685896699 -0.00749999786613414"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122294684195" />
+      <inertia
+        ixx="7.19798654010236E-09"
+        ixy="2.00675830489961E-10"
+        ixz="5.35800139465183E-16"
+        iyy="1.51631259358642E-08"
+        iyz="7.8808020866759E-18"
+        izz="1.15932953352023E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.040749 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_index_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_mcp">
+    <inertial>
+      <origin
+        xyz="2.01081678954385E-05 0.0194882004366029 -0.0167588747064354"
+        rpy="0 0 0" />
+      <mass
+        value="0.0424627028306414" />
+      <inertia
+        ixx="8.58404193093052E-06"
+        ixy="-4.86649189841865E-09"
+        ixz="2.95801261849437E-09"
+        iyy="3.47061632985806E-06"
+        iyz="-1.64810832206827E-07"
+        izz="7.46381545111666E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3563E-05 -0.0075"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="left_index_pitch" />
+    <child
+      link="left_index_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_pip">
+    <inertial>
+      <origin
+        xyz="-0.0031442100277055 0.0106745108074461 -0.00864410034762769"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496826825008" />
+      <inertia
+        ixx="4.93348532727428E-07"
+        ixy="8.64722609175115E-08"
+        ixz="5.75135202970078E-10"
+        iyy="4.81536834538903E-07"
+        iyz="-1.94852796061064E-09"
+        izz="5.21883270153211E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="left_index_mcp" />
+    <child
+      link="left_index_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_dip">
+    <inertial>
+      <origin
+        xyz="-0.000644960780749607 0.0154183356148398 -0.00810084996821625"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066497989636544" />
+      <inertia
+        ixx="6.05848681421687E-07"
+        ixy="-4.0114267200327E-08"
+        ixz="-2.54519706854004E-11"
+        iyy="1.81146916083006E-07"
+        iyz="4.02788370538172E-11"
+        izz="5.2159176508394E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_index_pip" />
+    <child
+      link="left_index_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_index_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_index_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.6419592570649E-05 -0.00563391503370096 -0.0055986681004935"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855680272270805" />
+      <inertia
+        ixx="4.07006086898374E-08"
+        ixy="3.90581028846587E-12"
+        ixz="-3.28840069583698E-12"
+        iyy="1.83869471535875E-08"
+        iyz="-9.40679037901272E-09"
+        izz="5.14696285613012E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_index_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.00818549489331251 0.0312932290613691 -0.00809978577346593"
+      rpy="-1.35354409798538 1.57052831054541 -1.0672782572142" />
+    <parent
+      link="left_index_dip" />
+    <child
+      link="left_index_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367355624943699 -0.00021016568589672 -0.00748999786613397"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122294684195" />
+      <inertia
+        ixx="7.19798654010236E-09"
+        ixy="2.00675830489958E-10"
+        ixz="5.35800149235328E-16"
+        iyy="1.51631259358642E-08"
+        iyz="7.88080448202934E-18"
+        izz="1.15932953352023E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.014999 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_middle_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_mcp">
+    <inertial>
+      <origin
+        xyz="2.01080868718062E-05 0.0194882006706334 -0.016758874868155"
+        rpy="0 0 0" />
+      <mass
+        value="0.0424627021476462" />
+      <inertia
+        ixx="8.58404181823664E-06"
+        ixy="-4.86651537082055E-09"
+        ixz="2.95803846084207E-09"
+        iyy="3.47061629473659E-06"
+        iyz="-1.64810918235307E-07"
+        izz="7.46381536621874E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3563E-05 -0.00749"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="left_middle_pitch" />
+    <child
+      link="left_middle_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314421002415795 0.0106745108018346 -0.00864410034869806"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496826726421" />
+      <inertia
+        ixx="4.93348532411765E-07"
+        ixy="8.64722608737503E-08"
+        ixz="5.7513508617295E-10"
+        iyy="4.81536834487158E-07"
+        iyz="-1.94852780934184E-09"
+        izz="5.21883270013693E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="left_middle_mcp" />
+    <child
+      link="left_middle_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_dip">
+    <inertial>
+      <origin
+        xyz="-0.00070151085260297 0.0161183967481758 -0.00810126506829106"
+        rpy="0 0 0" />
+      <mass
+        value="0.00790901041087601" />
+      <inertia
+        ixx="9.91837269531378E-07"
+        ixy="4.22426372885339E-09"
+        ixz="-7.25114351778606E-11"
+        iyy="2.48638803894385E-07"
+        iyz="1.33884896754267E-12"
+        izz="9.19082650617405E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_middle_pip" />
+    <child
+      link="left_middle_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_middle_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_middle_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.64223528850149E-05 -0.00563391180018319 -0.00559866505935751"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855681361695818" />
+      <inertia
+        ixx="4.07006377881744E-08"
+        ixy="3.92060544883103E-12"
+        ixz="-3.28368215239387E-12"
+        iyy="1.83869715655375E-08"
+        iyz="-9.40679998842945E-09"
+        izz="5.14696795998988E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_middle_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0082142 0.033293 -0.0080998"
+      rpy="-1.3535 1.5705 -1.0673" />
+    <parent
+      link="left_middle_dip" />
+    <child
+      link="left_middle_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_mcp">
+    <inertial>
+      <origin
+        xyz="-0.0107009125022348 0.0212572150630263 -0.00821910322538508"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400001953733367" />
+      <inertia
+        ixx="6.27541142995913E-06"
+        ixy="9.0553023239779E-08"
+        ixz="-3.55622475955702E-09"
+        iyy="3.29043713915748E-06"
+        iyz="4.78116589005191E-09"
+        izz="7.39545321486511E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.0068013 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_ring_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_ring_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314421000244272 0.0106745107764241 -0.00864410034809951"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496824184803" />
+      <inertia
+        ixx="4.93348528578379E-07"
+        ixy="8.64722597415639E-08"
+        ixz="5.75134889447562E-10"
+        iyy="4.81536833451742E-07"
+        iyz="-1.94852695298841E-09"
+        izz="5.21883266633703E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 0.0002499"
+      rpy="0 0 0" />
+    <parent
+      link="left_ring_mcp" />
+    <child
+      link="left_ring_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_ring_dip">
+    <inertial>
+      <origin
+        xyz="-0.000986496330158959 0.015161070987863 -0.00810248182420883"
+        rpy="0 0 0" />
+      <mass
+        value="0.0075190388918139" />
+      <inertia
+        ixx="7.08309084124647E-07"
+        ixy="-2.22155339890792E-08"
+        ixz="1.32726635728809E-13"
+        iyy="2.15393768846705E-07"
+        iyz="-1.02422088180675E-10"
+        izz="6.38509418719673E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_ring_pip" />
+    <child
+      link="left_ring_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_ring_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_ring_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.6423789152703E-05 -0.0056339105343866 -0.00559866530634114"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855681070431087" />
+      <inertia
+        ixx="4.07006236210697E-08"
+        ixy="3.91262606693901E-12"
+        ixz="-3.28416455554626E-12"
+        iyy="1.83869633852818E-08"
+        iyz="-9.40679540286337E-09"
+        izz="5.14696600139912E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_ring_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081807 0.031294 -0.0080998"
+      rpy="-1.3535 1.5705 -1.0671" />
+    <parent
+      link="left_ring_dip" />
+    <child
+      link="left_ring_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_pinky_mcp">
+    <inertial>
+      <origin
+        xyz="-0.0107009125655834 0.0212572149429738 -0.00821910323444977"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400001954242501" />
+      <inertia
+        ixx="6.27541147264561E-06"
+        ixy="9.05531007275701E-08"
+        ixz="-3.55621499292498E-09"
+        iyy="3.29043711336543E-06"
+        iyz="4.78122498745097E-09"
+        izz="7.39545324312647E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.028301 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_pinky_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_pinky_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314421000226291 0.0106745107879729 -0.00864410035599736"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496823463203" />
+      <inertia
+        ixx="4.93348527609236E-07"
+        ixy="8.6472259734572E-08"
+        ixz="5.751348982168E-10"
+        iyy="4.81536833164814E-07"
+        iyz="-1.94852740171171E-09"
+        izz="5.21883265977948E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 0.0002499"
+      rpy="0 0 0" />
+    <parent
+      link="left_pinky_mcp" />
+    <child
+      link="left_pinky_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_pinky_dip">
+    <inertial>
+      <origin
+        xyz="-0.000732357737964155 0.0150759787520019 -0.0080997012450795"
+        rpy="0 0 0" />
+      <mass
+        value="0.00639879609572046" />
+      <inertia
+        ixx="7.6601232537507E-07"
+        ixy="5.97935040360388E-09"
+        ixz="-3.03968179915078E-11"
+        iyy="1.91354789668271E-07"
+        iyz="4.6571728122625E-11"
+        izz="7.0307574610858E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_pinky_pip" />
+    <child
+      link="left_pinky_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_pinky_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_pinky_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.64225465788259E-05 -0.00563391115881989 -0.00559866458834149"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855681431680814" />
+      <inertia
+        ixx="4.07006376345194E-08"
+        ixy="3.9229476215294E-12"
+        ixz="-3.28201761053228E-12"
+        iyy="1.83869713003891E-08"
+        iyz="-9.40679972261779E-09"
+        izz="5.14696801822026E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081665 0.030295 -0.0080998"
+      rpy="-1.3535 1.5705 -1.0671" />
+    <parent
+      link="left_pinky_dip" />
+    <child
+      link="left_pinky_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_plam_force_sensor">
+    <inertial>
+      <origin
+        xyz="-0.000380237765193026 0.00147914273731315 -0.00345602529768013"
+        rpy="0 0 0" />
+      <mass
+        value="0.00510271463149053" />
+      <inertia
+        ixx="4.17830273405155E-07"
+        ixy="2.11874404851469E-08"
+        ixz="-9.21294846125974E-09"
+        iyy="1.54127034144581E-06"
+        iyz="9.85829123340138E-09"
+        izz="1.92335367423299E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_plam_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_plam_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_plam_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.021234 -0.00025311 0.081611"
+      rpy="1.5316 0.0039142 1.5706" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_plam_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_hand_casing">
+    <inertial>
+      <origin
+        xyz="-0.0156295827547175 0.000960308283155131 0.0601967340694911"
+        rpy="0 0 0" />
+      <mass
+        value="0.055636543864245" />
+      <inertia
+        ixx="0.000124482029390561"
+        ixy="-5.02296212758426E-07"
+        ixz="-2.29146396866647E-06"
+        iyy="7.20883924051549E-05"
+        iyz="-3.09726766640788E-06"
+        izz="6.17137905964273E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_casing.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_casing.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hand_casing_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_hand_casing" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
diff --git a/Robots_p/ur5+RH5DG2/urdf/Left_UR5_RH56DFX_with_flange.urdf b/Robots_p/ur5+RH5DG2/urdf/Left_UR5_RH56DFX_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..282fefbf2f20c700f06de0eb27854898a7304a5e
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/urdf/Left_UR5_RH56DFX_with_flange.urdf
@@ -0,0 +1,2177 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="L_arm_base_link"/>
+  <link name="L_arm_base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="L_arm_shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="L_arm_upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="L_arm_forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="L_arm_base_link-L_arm_base_link_inertia" type="fixed">
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base_link_inertia"/>
+    <!-- 'L_arm_base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'L_arm_base_link' and 'L_arm_base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="L_arm_shoulder_pan_joint" type="revolute">
+    <parent link="L_arm_base_link_inertia"/>
+    <child link="L_arm_shoulder_link"/>
+    <origin rpy="0 0 3.14" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_shoulder_lift_joint" type="revolute">
+    <parent link="L_arm_shoulder_link"/>
+    <child link="L_arm_upper_arm_link"/>
+    <origin rpy="-1.570796327 0 3.14" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_elbow_joint" type="revolute">
+    <parent link="L_arm_upper_arm_link"/>
+    <child link="L_arm_forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_1_joint" type="revolute">
+    <parent link="L_arm_forearm_link"/>
+    <child link="L_arm_wrist_1_link"/>
+    <origin rpy="0 0 3.14" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_2_joint" type="revolute">
+    <parent link="L_arm_wrist_1_link"/>
+    <child link="L_arm_wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_3_joint" type="revolute">
+    <parent link="L_arm_wrist_2_link"/>
+    <child link="L_arm_wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - L_arm_base_link to UR 'Base' Coordinates transform -->
+  <link name="L_arm_base"/>
+  <joint name="L_arm_base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as L_arm_base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="L_arm_flange"/>
+  <joint name="L_arm_wrist_3-flange" type="fixed">
+    <parent link="L_arm_wrist_3_link"/>
+    <child link="L_arm_flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="L_arm_tool0"/>
+  <joint name="L_arm_flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="L_arm_flange"/>
+    <child link="L_arm_tool0"/>
+  </joint>
+  
+    <joint name="wrist3_to_l_base" type="fixed">
+      <origin xyz="0 0 0.010" rpy="0 0 1.57"/>
+      <parent link="L_arm_wrist_3_link"/>
+      <child link="left_hand_flange"/>
+    </joint>
+    
+  <link
+    name="left_hand_flange">
+    <inertial>
+      <origin
+        xyz="0.000590322130432752 4.41124712313723E-08 0.018658174252011"
+        rpy="0 0 0" />
+      <mass
+        value="0.081627243194173" />
+      <inertia
+        ixx="2.75104643743656E-05"
+        ixy="5.12393523587802E-11"
+        ixz="3.1718200992143E-08"
+        iyy="2.64222033522155E-05"
+        iyz="-9.18935840440908E-12"
+        izz="3.62935316168479E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.03"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_flange" />
+    <child
+      link="left_hand_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="l_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955482757104E-10 1.16584020215527E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425511" />
+      <inertia
+        ixx="5.79403393826273E-06"
+        ixy="-2.14169580494357E-14"
+        ixz="5.36313442288001E-14"
+        iyy="5.79403739954585E-06"
+        iyz="-1.74818942913611E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.0095"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_flange" />
+    <child
+      link="l_flange" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_hand_base">
+    <inertial>
+      <origin
+        xyz="0.00476779611391661 -0.00175443650333851 0.0587982955062078"
+        rpy="0 0 0" />
+      <mass
+        value="0.31337820291855" />
+      <inertia
+        ixx="0.000279000366417088"
+        ixy="-5.97993292268341E-06"
+        ixz="-1.05033856695153E-05"
+        iyy="0.000216316347892288"
+        iyz="1.4210833856168E-05"
+        izz="0.000114395570521506" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_thumb_yaw">
+    <inertial>
+      <origin
+        xyz="0.000851891383030774 -0.00483573175773916 -0.00574146645894136"
+        rpy="0 0 0" />
+      <mass
+        value="0.00481739894285163" />
+      <inertia
+        ixx="1.77884271480388E-07"
+        ixy="1.48522080685373E-08"
+        ixz="-1.10224294372931E-09"
+        iyy="9.58668288233385E-08"
+        iyz="-5.5776293980979E-11"
+        izz="1.65931166990387E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_yaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_yaw.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.021 -0.021699 0.04175"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_thumb_yaw" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.92"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_mcp">
+    <inertial>
+      <origin
+        xyz="-0.0251945178412399 0.00470177554341608 -0.00721123225273899"
+        rpy="0 0 0" />
+      <mass
+        value="0.0417558487107307" />
+      <inertia
+        ixx="4.59982517501995E-06"
+        ixy="1.45476527663314E-06"
+        ixz="-5.57455414212812E-09"
+        iyy="6.84084011018754E-06"
+        iyz="6.02057975741715E-09"
+        izz="8.65410202531359E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084186 -0.010193 -0.01022"
+      rpy="1.7453 0 1.7453" />
+    <parent
+      link="left_thumb_yaw" />
+    <child
+      link="left_thumb_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.6632"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_pip">
+    <inertial>
+      <origin
+        xyz="-0.0196407670570219 0.00242380087447701 -0.0109191513474222"
+        rpy="0 0 0" />
+      <mass
+        value="0.0413815384223489" />
+      <inertia
+        ixx="4.9686066477999E-06"
+        ixy="1.31917592849383E-06"
+        ixz="-8.87180077960401E-09"
+        iyy="6.85470350393852E-06"
+        iyz="4.36126634540719E-09"
+        izz="8.67826738799969E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.043727 0.01749 0.0036"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_mcp" />
+    <child
+      link="left_thumb_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.041888"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_thumb_mcp_joint"
+        multiplier="1.0853"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_thumb_dip">
+    <inertial>
+      <origin
+        xyz="-0.0129223062507652 -0.00448889527590449 -0.00799771788559279"
+        rpy="0 0 0" />
+      <mass
+        value="0.0073764770439235" />
+      <inertia
+        ixx="4.78976513280882E-07"
+        ixy="3.84556931848967E-08"
+        ixz="1.02110225470547E-10"
+        iyy="8.07505501706801E-07"
+        iyz="-7.92203147492935E-11"
+        izz="8.31360546482169E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.036427 0.019902 -0.0028"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_pip" />
+    <child
+      link="left_thumb_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.03"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.67299529038739E-05 0.00563393604355955 -0.0055985469152464"
+        rpy="0 0 0" />
+      <mass
+        value="0.00085577183134953" />
+      <inertia
+        ixx="4.07064916891433E-08"
+        ixy="2.20186833718841E-12"
+        ixz="4.46928677357564E-12"
+        iyy="1.83895191923608E-08"
+        iyz="9.40855973846822E-09"
+        izz="5.14761959804735E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="-0.025343 0.0072822 -0.0079999"
+      rpy="1.3535 -1.5705 -2.7497" />
+    <parent
+      link="left_thumb_dip" />
+    <child
+      link="left_thumb_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367355624943706 -0.000210165685896699 -0.00749999786613414"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122294684195" />
+      <inertia
+        ixx="7.19798654010236E-09"
+        ixy="2.00675830489961E-10"
+        ixz="5.35800139465183E-16"
+        iyy="1.51631259358642E-08"
+        iyz="7.8808020866759E-18"
+        izz="1.15932953352023E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.040749 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_index_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_mcp">
+    <inertial>
+      <origin
+        xyz="2.01081678954385E-05 0.0194882004366029 -0.0167588747064354"
+        rpy="0 0 0" />
+      <mass
+        value="0.0424627028306414" />
+      <inertia
+        ixx="8.58404193093052E-06"
+        ixy="-4.86649189841865E-09"
+        ixz="2.95801261849437E-09"
+        iyy="3.47061632985806E-06"
+        iyz="-1.64810832206827E-07"
+        izz="7.46381545111666E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3563E-05 -0.0075"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="left_index_pitch" />
+    <child
+      link="left_index_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_pip">
+    <inertial>
+      <origin
+        xyz="-0.0031442100277055 0.0106745108074461 -0.00864410034762769"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496826825008" />
+      <inertia
+        ixx="4.93348532727428E-07"
+        ixy="8.64722609175115E-08"
+        ixz="5.75135202970078E-10"
+        iyy="4.81536834538903E-07"
+        iyz="-1.94852796061064E-09"
+        izz="5.21883270153211E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="left_index_mcp" />
+    <child
+      link="left_index_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_dip">
+    <inertial>
+      <origin
+        xyz="-0.000644960780749607 0.0154183356148398 -0.00810084996821625"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066497989636544" />
+      <inertia
+        ixx="6.05848681421687E-07"
+        ixy="-4.0114267200327E-08"
+        ixz="-2.54519706854004E-11"
+        iyy="1.81146916083006E-07"
+        iyz="4.02788370538172E-11"
+        izz="5.2159176508394E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_index_pip" />
+    <child
+      link="left_index_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_index_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_index_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.6419592570649E-05 -0.00563391503370096 -0.0055986681004935"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855680272270805" />
+      <inertia
+        ixx="4.07006086898374E-08"
+        ixy="3.90581028846587E-12"
+        ixz="-3.28840069583698E-12"
+        iyy="1.83869471535875E-08"
+        iyz="-9.40679037901272E-09"
+        izz="5.14696285613012E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_index_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.00818549489331251 0.0312932290613691 -0.00809978577346593"
+      rpy="-1.35354409798538 1.57052831054541 -1.0672782572142" />
+    <parent
+      link="left_index_dip" />
+    <child
+      link="left_index_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367355624943699 -0.00021016568589672 -0.00748999786613397"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122294684195" />
+      <inertia
+        ixx="7.19798654010236E-09"
+        ixy="2.00675830489958E-10"
+        ixz="5.35800149235328E-16"
+        iyy="1.51631259358642E-08"
+        iyz="7.88080448202934E-18"
+        izz="1.15932953352023E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.014999 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_middle_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_mcp">
+    <inertial>
+      <origin
+        xyz="2.01080868718062E-05 0.0194882006706334 -0.016758874868155"
+        rpy="0 0 0" />
+      <mass
+        value="0.0424627021476462" />
+      <inertia
+        ixx="8.58404181823664E-06"
+        ixy="-4.86651537082055E-09"
+        ixz="2.95803846084207E-09"
+        iyy="3.47061629473659E-06"
+        iyz="-1.64810918235307E-07"
+        izz="7.46381536621874E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3563E-05 -0.00749"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="left_middle_pitch" />
+    <child
+      link="left_middle_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314421002415795 0.0106745108018346 -0.00864410034869806"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496826726421" />
+      <inertia
+        ixx="4.93348532411765E-07"
+        ixy="8.64722608737503E-08"
+        ixz="5.7513508617295E-10"
+        iyy="4.81536834487158E-07"
+        iyz="-1.94852780934184E-09"
+        izz="5.21883270013693E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="left_middle_mcp" />
+    <child
+      link="left_middle_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_dip">
+    <inertial>
+      <origin
+        xyz="-0.00070151085260297 0.0161183967481758 -0.00810126506829106"
+        rpy="0 0 0" />
+      <mass
+        value="0.00790901041087601" />
+      <inertia
+        ixx="9.91837269531378E-07"
+        ixy="4.22426372885339E-09"
+        ixz="-7.25114351778606E-11"
+        iyy="2.48638803894385E-07"
+        iyz="1.33884896754267E-12"
+        izz="9.19082650617405E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_middle_pip" />
+    <child
+      link="left_middle_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_middle_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_middle_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.64223528850149E-05 -0.00563391180018319 -0.00559866505935751"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855681361695818" />
+      <inertia
+        ixx="4.07006377881744E-08"
+        ixy="3.92060544883103E-12"
+        ixz="-3.28368215239387E-12"
+        iyy="1.83869715655375E-08"
+        iyz="-9.40679998842945E-09"
+        izz="5.14696795998988E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_middle_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0082142 0.033293 -0.0080998"
+      rpy="-1.3535 1.5705 -1.0673" />
+    <parent
+      link="left_middle_dip" />
+    <child
+      link="left_middle_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_mcp">
+    <inertial>
+      <origin
+        xyz="-0.0107009125022348 0.0212572150630263 -0.00821910322538508"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400001953733367" />
+      <inertia
+        ixx="6.27541142995913E-06"
+        ixy="9.0553023239779E-08"
+        ixz="-3.55622475955702E-09"
+        iyy="3.29043713915748E-06"
+        iyz="4.78116589005191E-09"
+        izz="7.39545321486511E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.0068013 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_ring_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_ring_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314421000244272 0.0106745107764241 -0.00864410034809951"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496824184803" />
+      <inertia
+        ixx="4.93348528578379E-07"
+        ixy="8.64722597415639E-08"
+        ixz="5.75134889447562E-10"
+        iyy="4.81536833451742E-07"
+        iyz="-1.94852695298841E-09"
+        izz="5.21883266633703E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 0.0002499"
+      rpy="0 0 0" />
+    <parent
+      link="left_ring_mcp" />
+    <child
+      link="left_ring_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_ring_dip">
+    <inertial>
+      <origin
+        xyz="-0.000986496330158959 0.015161070987863 -0.00810248182420883"
+        rpy="0 0 0" />
+      <mass
+        value="0.0075190388918139" />
+      <inertia
+        ixx="7.08309084124647E-07"
+        ixy="-2.22155339890792E-08"
+        ixz="1.32726635728809E-13"
+        iyy="2.15393768846705E-07"
+        iyz="-1.02422088180675E-10"
+        izz="6.38509418719673E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_ring_pip" />
+    <child
+      link="left_ring_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_ring_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_ring_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.6423789152703E-05 -0.0056339105343866 -0.00559866530634114"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855681070431087" />
+      <inertia
+        ixx="4.07006236210697E-08"
+        ixy="3.91262606693901E-12"
+        ixz="-3.28416455554626E-12"
+        iyy="1.83869633852818E-08"
+        iyz="-9.40679540286337E-09"
+        izz="5.14696600139912E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_ring_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081807 0.031294 -0.0080998"
+      rpy="-1.3535 1.5705 -1.0671" />
+    <parent
+      link="left_ring_dip" />
+    <child
+      link="left_ring_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_pinky_mcp">
+    <inertial>
+      <origin
+        xyz="-0.0107009125655834 0.0212572149429738 -0.00821910323444977"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400001954242501" />
+      <inertia
+        ixx="6.27541147264561E-06"
+        ixy="9.05531007275701E-08"
+        ixz="-3.55621499292498E-09"
+        iyy="3.29043711336543E-06"
+        iyz="4.78122498745097E-09"
+        izz="7.39545324312647E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.028301 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_pinky_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_pinky_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314421000226291 0.0106745107879729 -0.00864410035599736"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496823463203" />
+      <inertia
+        ixx="4.93348527609236E-07"
+        ixy="8.6472259734572E-08"
+        ixz="5.751348982168E-10"
+        iyy="4.81536833164814E-07"
+        iyz="-1.94852740171171E-09"
+        izz="5.21883265977948E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 0.0002499"
+      rpy="0 0 0" />
+    <parent
+      link="left_pinky_mcp" />
+    <child
+      link="left_pinky_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_pinky_dip">
+    <inertial>
+      <origin
+        xyz="-0.000732357737964155 0.0150759787520019 -0.0080997012450795"
+        rpy="0 0 0" />
+      <mass
+        value="0.00639879609572046" />
+      <inertia
+        ixx="7.6601232537507E-07"
+        ixy="5.97935040360388E-09"
+        ixz="-3.03968179915078E-11"
+        iyy="1.91354789668271E-07"
+        iyz="4.6571728122625E-11"
+        izz="7.0307574610858E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_pinky_pip" />
+    <child
+      link="left_pinky_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_pinky_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_pinky_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.64225465788259E-05 -0.00563391115881989 -0.00559866458834149"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855681431680814" />
+      <inertia
+        ixx="4.07006376345194E-08"
+        ixy="3.9229476215294E-12"
+        ixz="-3.28201761053228E-12"
+        iyy="1.83869713003891E-08"
+        iyz="-9.40679972261779E-09"
+        izz="5.14696801822026E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081665 0.030295 -0.0080998"
+      rpy="-1.3535 1.5705 -1.0671" />
+    <parent
+      link="left_pinky_dip" />
+    <child
+      link="left_pinky_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_plam_force_sensor">
+    <inertial>
+      <origin
+        xyz="-0.000380237765193026 0.00147914273731315 -0.00345602529768013"
+        rpy="0 0 0" />
+      <mass
+        value="0.00510271463149053" />
+      <inertia
+        ixx="4.17830273405155E-07"
+        ixy="2.11874404851469E-08"
+        ixz="-9.21294846125974E-09"
+        iyy="1.54127034144581E-06"
+        iyz="9.85829123340138E-09"
+        izz="1.92335367423299E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_plam_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_plam_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_plam_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.021234 -0.00025311 0.081611"
+      rpy="1.5316 0.0039142 1.5706" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_plam_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_hand_casing">
+    <inertial>
+      <origin
+        xyz="-0.0156295827547175 0.000960308283155131 0.0601967340694911"
+        rpy="0 0 0" />
+      <mass
+        value="0.055636543864245" />
+      <inertia
+        ixx="0.000124482029390561"
+        ixy="-5.02296212758426E-07"
+        ixz="-2.29146396866647E-06"
+        iyy="7.20883924051549E-05"
+        iyz="-3.09726766640788E-06"
+        izz="6.17137905964273E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_casing.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_casing.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hand_casing_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_hand_casing" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+RH5DG2/urdf/Multi_UR5.urdf b/Robots_p/ur5+RH5DG2/urdf/Multi_UR5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa91c34018d9e90cc5d37e69a102127bbf990ad8
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/urdf/Multi_UR5.urdf
@@ -0,0 +1,795 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+
+    <joint name="distance_joint" type="fixed">
+      <origin xyz="0 1 0" rpy="0 0 0"/>
+      <parent link="base_link"/>
+      <child link="L_arm_base_link"/>
+    </joint>
+  
+  <link name="L_arm_base_link"/>
+  <link name="L_arm_base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="L_arm_shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="L_arm_upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="L_arm_forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="L_arm_base_link-L_arm_base_link_inertia" type="fixed">
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base_link_inertia"/>
+    <!-- 'L_arm_base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'L_arm_base_link' and 'L_arm_base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="L_arm_shoulder_pan_joint" type="revolute">
+    <parent link="L_arm_base_link_inertia"/>
+    <child link="L_arm_shoulder_link"/>
+    <origin rpy="0 0 3.14" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_shoulder_lift_joint" type="revolute">
+    <parent link="L_arm_shoulder_link"/>
+    <child link="L_arm_upper_arm_link"/>
+    <origin rpy="-1.570796327 0 3.14" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_elbow_joint" type="revolute">
+    <parent link="L_arm_upper_arm_link"/>
+    <child link="L_arm_forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_1_joint" type="revolute">
+    <parent link="L_arm_forearm_link"/>
+    <child link="L_arm_wrist_1_link"/>
+    <origin rpy="0 0 3.14" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_2_joint" type="revolute">
+    <parent link="L_arm_wrist_1_link"/>
+    <child link="L_arm_wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_3_joint" type="revolute">
+    <parent link="L_arm_wrist_2_link"/>
+    <child link="L_arm_wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - L_arm_base_link to UR 'Base' Coordinates transform -->
+  <link name="L_arm_base"/>
+  <joint name="L_arm_base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as L_arm_base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="L_arm_flange"/>
+  <joint name="L_arm_wrist_3-flange" type="fixed">
+    <parent link="L_arm_wrist_3_link"/>
+    <child link="L_arm_flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="L_arm_tool0"/>
+  <joint name="L_arm_flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="L_arm_flange"/>
+    <child link="L_arm_tool0"/>
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+RH5DG2/urdf/Multi_UR5_RH5DG2_with_flange.urdf b/Robots_p/ur5+RH5DG2/urdf/Multi_UR5_RH5DG2_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f96822600b83923fe9b2d823e6e5b9d30c75ddaf
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/urdf/Multi_UR5_RH5DG2_with_flange.urdf
@@ -0,0 +1,4077 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+
+    <joint name="wrist3_to_r_base" type="fixed">
+      <origin xyz="0 0 0.010" rpy="0 0 1.57"/>
+      <parent link="wrist_3_link"/>
+      <child link="right_hand_flange"/>
+    </joint>
+
+  <link
+    name="right_hand_flange">
+    <inertial>
+      <origin
+        xyz="0.000590324230515745 -4.41066235895571E-08 0.018658168492136"
+        rpy="0 0 0" />
+      <mass
+        value="0.0816272765426702" />
+      <inertia
+        ixx="2.75104686550082E-05"
+        ixy="-4.85912163791784E-11"
+        ixz="3.17186486652321E-08"
+        iyy="2.64222243265588E-05"
+        iyz="1.09459930565443E-11"
+        izz="3.62935481756171E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.03"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_flange" />
+    <child
+      link="right_hand_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="r_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955455001528E-10 1.16584006337739E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425512" />
+      <inertia
+        ixx="5.79403393826274E-06"
+        ixy="-2.14169586327831E-14"
+        ixz="5.36313422038085E-14"
+        iyy="5.79403739954587E-06"
+        iyz="-1.74818936645495E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.00950000000000002"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_flange" />
+    <child
+      link="r_flange" />
+    <axis
+      xyz="0 0 0" />
+  </joint>  
+  <link
+    name="right_hand_base">
+    <inertial>
+      <origin
+        xyz="0.00476756631465456 0.00175486916477953 0.0587979044163915"
+        rpy="0 0 0" />
+      <mass
+        value="0.313373727622822" />
+      <inertia
+        ixx="0.000278996704854979"
+        ixy="5.98018974024641E-06"
+        ixz="-1.05020418854344E-05"
+        iyy="0.000216312986429234"
+        iyz="-1.42127984491883E-05"
+        izz="0.000114394945480033" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="right_thumb_yaw">
+    <inertial>
+      <origin
+        xyz="0.000851897283664193 0.00483571971174275 -0.00574141841695075"
+        rpy="0 0 0" />
+      <mass
+        value="0.00481735450280768" />
+      <inertia
+        ixx="1.77883416432454E-07"
+        ixy="-1.4852348790338E-08"
+        ixz="-1.10223746267107E-09"
+        iyy="9.58659671745112E-08"
+        iyz="5.54372476858133E-11"
+        izz="1.65931218249892E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_yaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_yaw.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.021 0.021699 0.04175"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_thumb_yaw" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.92"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_mcp">
+    <inertial>
+      <origin
+        xyz="0.025194612573869 0.00470162547088749 -0.00721129474275403"
+        rpy="0 0 0" />
+      <mass
+        value="0.0417560711563155" />
+      <inertia
+        ixx="4.59979341669256E-06"
+        ixy="-1.45470106933137E-06"
+        ixz="5.58870625419533E-09"
+        iyy="6.84088254138929E-06"
+        iyz="6.02428016494947E-09"
+        izz="8.65411062567632E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084186 0.010193 -0.01022"
+      rpy="1.7453 0 1.3963" />
+    <parent
+      link="right_thumb_yaw" />
+    <child
+      link="right_thumb_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.6632"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_pip">
+    <inertial>
+      <origin
+        xyz="0.0196408645855889 0.00242395573483212 -0.0109191426793314"
+        rpy="0 0 0" />
+      <mass
+        value="0.0413809633564141" />
+      <inertia
+        ixx="4.96850464366127E-06"
+        ixy="-1.31907241751355E-06"
+        ixz="8.88960161741137E-09"
+        iyy="6.85457643394163E-06"
+        iyz="4.37339295353162E-09"
+        izz="8.67807228359951E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_pip_joint"
+    type="revolute">
+    <origin
+      xyz="0.043727 0.01749 0.0036"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_mcp" />
+    <child
+      link="right_thumb_pip" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.041888"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_thumb_mcp_joint"
+        multiplier="1.0853"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_thumb_dip">
+    <inertial>
+      <origin
+        xyz="0.0129223767041669 -0.00448868354831102 -0.00799774270077806"
+        rpy="0 0 0" />
+      <mass
+        value="0.00737636421207598" />
+      <inertia
+        ixx="4.78965186477482E-07"
+        ixy="-3.84626531297066E-08"
+        ixz="-1.001875596605E-10"
+        iyy="8.07509344169254E-07"
+        iyz="-7.91953445955167E-11"
+        izz="8.31354000304304E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_dip_joint"
+    type="revolute">
+    <origin
+      xyz="0.036427 0.019902 -0.0028"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_pip" />
+    <child
+      link="right_thumb_dip" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.03"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.49901055418299E-05 -0.00563264518277098 -0.00559872008620623"
+        rpy="0 0 0" />
+      <mass
+        value="0.00082154243439554" />
+      <inertia
+        ixx="3.90581954306162E-08"
+        ixy="-1.27342605974583E-11"
+        ixz="1.9845992056927E-12"
+        iyy="1.76549694169177E-08"
+        iyz="-9.02510719590674E-09"
+        izz="4.94025774187095E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.025343 0.0072822 -0.0079999"
+      rpy="-1.2546 -1.5705 -0.4908" />
+    <parent
+      link="right_thumb_dip" />
+    <child
+      link="right_thumb_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367349463998261 -0.000210166188066754 0.00749999141843509"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122602313453" />
+      <inertia
+        ixx="7.1980057585389E-09"
+        ixy="2.00682705504413E-10"
+        ixz="-9.82275603332215E-15"
+        iyy="1.51631692815451E-08"
+        iyz="1.89296029269202E-14"
+        izz="1.15933131895546E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.040749 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_index_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_mcp">
+    <inertial>
+      <origin
+        xyz="-2.01467999326986E-05 0.0194880288322318 -0.0167588939823536"
+        rpy="0 0 0" />
+      <mass
+        value="0.0424626596591662" />
+      <inertia
+        ixx="8.58396037676953E-06"
+        ixy="4.88991803458719E-09"
+        ixz="-2.94206076182322E-09"
+        iyy="3.47062801235869E-06"
+        iyz="-1.64833233320948E-07"
+        izz="7.46371056418488E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3567E-05 0.0075"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="right_index_pitch" />
+    <child
+      link="right_index_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314419755359261 0.0106744889274093 0.00864412503243511"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496268336632" />
+      <inertia
+        ixx="4.93347889217061E-07"
+        ixy="8.64715993100959E-08"
+        ixz="-5.69691223041633E-10"
+        iyy="4.81536550488213E-07"
+        iyz="1.94076484140821E-09"
+        izz="5.21882082889534E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_pip_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="right_index_mcp" />
+    <child
+      link="right_index_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_dip">
+    <inertial>
+      <origin
+        xyz="-0.000644949745313064 0.0154182461989069 0.00810065277966891"
+        rpy="0 0 0" />
+      <mass
+        value="0.00664978049326489" />
+      <inertia
+        ixx="6.05852720084231E-07"
+        ixy="-4.01125528847643E-08"
+        ixz="2.81985876722265E-11"
+        iyy="1.81147685100013E-07"
+        iyz="-2.47884779332845E-11"
+        izz="5.21594011307318E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="right_index_pip" />
+    <child
+      link="right_index_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_index_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_index_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50411264972679E-05 -0.00563322560166721 -0.00559906326998691"
+        rpy="0 0 0" />
+      <mass
+        value="0.000821477170958115" />
+      <inertia
+        ixx="3.90513353148686E-08"
+        ixy="-1.11829645998234E-11"
+        ixz="2.69394488312643E-12"
+        iyy="1.7654484497724E-08"
+        iyz="-9.0241075264863E-09"
+        izz="4.93951009703017E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_index_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081855 0.031293 0.0080998"
+      rpy="1.887 1.5705 2.1733" />
+    <parent
+      link="right_index_dip" />
+    <child
+      link="right_index_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367349404021302 -0.000210161704238897 0.00748999141843493"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122602313453" />
+      <inertia
+        ixx="7.19800575853891E-09"
+        ixy="2.00682705504411E-10"
+        ixz="-9.82275603809425E-15"
+        iyy="1.51631692815451E-08"
+        iyz="1.89296029311036E-14"
+        izz="1.15933131895546E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.014999 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_middle_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_mcp">
+    <inertial>
+      <origin
+        xyz="-2.0146945491413E-05 0.0194880312652293 -0.0167588944645467"
+        rpy="0 0 0" />
+      <mass
+        value="0.042462664998855" />
+      <inertia
+        ixx="8.58396241049123E-06"
+        ixy="4.89002069633661E-09"
+        ixz="-2.94206543993551E-09"
+        iyy="3.47062806248695E-06"
+        iyz="-1.64832922001247E-07"
+        izz="7.46371256678543E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3563E-05 0.00749"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="right_middle_pitch" />
+    <child
+      link="right_middle_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_pip">
+    <inertial>
+      <origin
+        xyz="-0.0031441972034093 0.0106744891490008 0.00864412512279808"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496250418362" />
+      <inertia
+        ixx="4.93347880963852E-07"
+        ixy="8.6471614745122E-08"
+        ixz="-5.69682248129181E-10"
+        iyy="4.81536528984814E-07"
+        iyz="1.94076860553629E-09"
+        izz="5.21882050440504E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_pip_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="right_middle_mcp" />
+    <child
+      link="right_middle_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_dip">
+    <inertial>
+      <origin
+        xyz="-0.000701517469291216 0.0161183560449928 0.00810132146835783"
+        rpy="0 0 0" />
+      <mass
+        value="0.00790894444915994" />
+      <inertia
+        ixx="9.91831302518168E-07"
+        ixy="4.22510553763792E-09"
+        ixz="7.16512413943551E-11"
+        iyy="2.48636663362811E-07"
+        iyz="-1.49937666788817E-11"
+        izz="9.19075362342684E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="right_middle_pip" />
+    <child
+      link="right_middle_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_middle_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_middle_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50394570450282E-05 -0.00563322673087575 -0.00559906338785213"
+        rpy="0 0 0" />
+      <mass
+        value="0.00082147735143828" />
+      <inertia
+        ixx="3.90513415024573E-08"
+        ixy="-1.11899639678725E-11"
+        ixz="2.69219173504368E-12"
+        iyy="1.76544907369721E-08"
+        iyz="-9.02410988222755E-09"
+        izz="4.93951129208313E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_middle_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0082142 0.033293 0.0080998"
+      rpy="1.887 1.5705 2.1733" />
+    <parent
+      link="right_middle_dip" />
+    <child
+      link="right_middle_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_mcp">
+    <inertial>
+      <origin
+        xyz="-0.010700946384068 0.0212571795812487 0.00821908887230147"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400004914542444" />
+      <inertia
+        ixx="6.27547006168206E-06"
+        ixy="9.05324050505327E-08"
+        ixz="3.54862068684509E-09"
+        iyy="3.29045944927205E-06"
+        iyz="-4.7782013472686E-09"
+        izz="7.39552142459584E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.0068013 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_ring_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_ring_pip">
+    <inertial>
+      <origin
+        xyz="0.00314419732096636 -0.0106744890675499 0.00864412507241823"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496256337836" />
+      <inertia
+        ixx="4.93347885228067E-07"
+        ixy="8.64716091309473E-08"
+        ixz="5.6968636055712E-10"
+        iyy="4.81536537220291E-07"
+        iyz="-1.94076631732424E-09"
+        izz="5.21882062158111E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 -0.0002499"
+      rpy="0 0 -3.1416" />
+    <parent
+      link="right_ring_mcp" />
+    <child
+      link="right_ring_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_ring_dip">
+    <inertial>
+      <origin
+        xyz="-0.000986492679010138 0.015161048316122 0.0081024753697552"
+        rpy="0 0 0" />
+      <mass
+        value="0.0075190935660202" />
+      <inertia
+        ixx="7.08307399697461E-07"
+        ixy="-2.22143582188237E-08"
+        ixz="-2.76043626039761E-12"
+        iyy="2.15393048794773E-07"
+        iyz="1.13179084874251E-10"
+        izz="6.38506239799037E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_dip_joint"
+    type="revolute">
+    <origin
+      xyz="0.0032605 -0.018491 0.00035"
+      rpy="0 0 3.1416" />
+    <parent
+      link="right_ring_pip" />
+    <child
+      link="right_ring_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_ring_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_ring_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50394703578235E-05 -0.00563322718894786 -0.0055990635981115"
+        rpy="0 0 0" />
+      <mass
+        value="0.000821477356009259" />
+      <inertia
+        ixx="3.90513390245763E-08"
+        ixy="-1.11888199904122E-11"
+        ixz="2.69290146266632E-12"
+        iyy="1.76544911434498E-08"
+        iyz="-9.02410955691291E-09"
+        izz="4.9395110655834E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_ring_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081807 0.031294 0.0080998"
+      rpy="1.887 1.5705 2.1734" />
+    <parent
+      link="right_ring_dip" />
+    <child
+      link="right_ring_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_pinky_mcp">
+    <inertial>
+      <origin
+        xyz="-0.010700946065574 0.0212571797208405 0.00821908889702942"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400004927621343" />
+      <inertia
+        ixx="6.27547008597196E-06"
+        ixy="9.05323572263552E-08"
+        ixz="3.54861531059295E-09"
+        iyy="3.2904595698359E-06"
+        iyz="-4.77820330506494E-09"
+        izz="7.39552153213612E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.028301 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_pinky_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_pinky_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314419720146366 0.0106744891473517 0.00864412512358675"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496250569101" />
+      <inertia
+        ixx="4.93347880966351E-07"
+        ixy="8.64716148219528E-08"
+        ixz="-5.69682311697152E-10"
+        iyy="4.81536529044768E-07"
+        iyz="1.94076863628207E-09"
+        izz="5.21882050624766E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 -0.0002499"
+      rpy="0 0 0" />
+    <parent
+      link="right_pinky_mcp" />
+    <child
+      link="right_pinky_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_pinky_dip">
+    <inertial>
+      <origin
+        xyz="-0.000732466536179373 0.0150757054237563 0.00809913978154883"
+        rpy="0 0 0" />
+      <mass
+        value="0.0063989372716428" />
+      <inertia
+        ixx="7.66013304699806E-07"
+        ixy="5.97764025776379E-09"
+        ixz="2.53072492811611E-11"
+        iyy="1.91358086550736E-07"
+        iyz="-4.20948025228026E-11"
+        izz="7.03075351565884E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="right_pinky_pip" />
+    <child
+      link="right_pinky_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_pinky_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_pinky_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50349710936193E-05 -0.00563322977530661 -0.00559906603434453"
+        rpy="0 0 0" />
+      <mass
+        value="0.000821476662984886" />
+      <inertia
+        ixx="3.90513382701249E-08"
+        ixy="-1.11824539770243E-11"
+        ixz="2.69617798622852E-12"
+        iyy="1.76544745744708E-08"
+        iyz="-9.02410881725583E-09"
+        izz="4.9395090944421E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081665 0.030295 0.0080998"
+      rpy="1.887 1.5705 2.1734" />
+    <parent
+      link="right_pinky_dip" />
+    <child
+      link="right_pinky_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_plam_force_sensor">
+    <inertial>
+      <origin
+        xyz="0.000380260295352312 0.00147915127629069 -0.00345600862756401"
+        rpy="0 0 0" />
+      <mass
+        value="0.00510273604425368" />
+      <inertia
+        ixx="4.17831151418347E-07"
+        ixy="-2.11883772743013E-08"
+        ixz="9.21528713779677E-09"
+        iyy="1.5412488637117E-06"
+        iyz="9.85909440884654E-09"
+        izz="1.92333287024597E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_plam_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_plam_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_plam_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.021234 0.00025311 0.081611"
+      rpy="1.5316 -0.0039142 1.5709" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_plam_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="right_hand_casing">
+    <inertial>
+      <origin
+        xyz="-0.0156286855968737 -0.000977283040214036 0.0601912621043598"
+        rpy="0 0 0" />
+      <mass
+        value="0.0556767648953531" />
+      <inertia
+        ixx="0.000124534850475658"
+        ixy="5.0052078754887E-07"
+        ixz="-2.29155701714135E-06"
+        iyy="7.21063672909886E-05"
+        iyz="3.09668261327464E-06"
+        izz="6.17530465789103E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_casing.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_casing.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_casing_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_hand_casing" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+    <joint name="distance_joint" type="fixed">
+      <origin xyz="0 1 0" rpy="0 0 0"/>
+      <parent link="base_link"/>
+      <child link="L_arm_base_link"/>
+    </joint>
+  
+  <link name="L_arm_base_link"/>
+  <link name="L_arm_base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="L_arm_shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="L_arm_upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="L_arm_forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="L_arm_base_link-L_arm_base_link_inertia" type="fixed">
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base_link_inertia"/>
+    <!-- 'L_arm_base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'L_arm_base_link' and 'L_arm_base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="L_arm_shoulder_pan_joint" type="revolute">
+    <parent link="L_arm_base_link_inertia"/>
+    <child link="L_arm_shoulder_link"/>
+    <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_shoulder_lift_joint" type="revolute">
+    <parent link="L_arm_shoulder_link"/>
+    <child link="L_arm_upper_arm_link"/>
+    <origin rpy="-1.570796327 0 3.14" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_elbow_joint" type="revolute">
+    <parent link="L_arm_upper_arm_link"/>
+    <child link="L_arm_forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_1_joint" type="revolute">
+    <parent link="L_arm_forearm_link"/>
+    <child link="L_arm_wrist_1_link"/>
+    <origin rpy="0 0 3.14" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_2_joint" type="revolute">
+    <parent link="L_arm_wrist_1_link"/>
+    <child link="L_arm_wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_3_joint" type="revolute">
+    <parent link="L_arm_wrist_2_link"/>
+    <child link="L_arm_wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - L_arm_base_link to UR 'Base' Coordinates transform -->
+  <link name="L_arm_base"/>
+  <joint name="L_arm_base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as L_arm_base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="L_arm_flange"/>
+  <joint name="L_arm_wrist_3-flange" type="fixed">
+    <parent link="L_arm_wrist_3_link"/>
+    <child link="L_arm_flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="L_arm_tool0"/>
+  <joint name="L_arm_flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="L_arm_flange"/>
+    <child link="L_arm_tool0"/>
+  </joint>
+  
+    <joint name="wrist3_to_l_base" type="fixed">
+      <origin xyz="0 0 0.010" rpy="0 0 1.57"/>
+      <parent link="L_arm_wrist_3_link"/>
+      <child link="left_hand_flange"/>
+    </joint>
+    
+  <link
+    name="left_hand_flange">
+    <inertial>
+      <origin
+        xyz="0.000590322130432752 4.41124712313723E-08 0.018658174252011"
+        rpy="0 0 0" />
+      <mass
+        value="0.081627243194173" />
+      <inertia
+        ixx="2.75104643743656E-05"
+        ixy="5.12393523587802E-11"
+        ixz="3.1718200992143E-08"
+        iyy="2.64222033522155E-05"
+        iyz="-9.18935840440908E-12"
+        izz="3.62935316168479E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.03"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_flange" />
+    <child
+      link="left_hand_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="l_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955482757104E-10 1.16584020215527E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425511" />
+      <inertia
+        ixx="5.79403393826273E-06"
+        ixy="-2.14169580494357E-14"
+        ixz="5.36313442288001E-14"
+        iyy="5.79403739954585E-06"
+        iyz="-1.74818942913611E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/l_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="l_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.0095"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_flange" />
+    <child
+      link="l_flange" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_hand_base">
+    <inertial>
+      <origin
+        xyz="0.00476779611391661 -0.00175443650333851 0.0587982955062078"
+        rpy="0 0 0" />
+      <mass
+        value="0.31337820291855" />
+      <inertia
+        ixx="0.000279000366417088"
+        ixy="-5.97993292268341E-06"
+        ixz="-1.05033856695153E-05"
+        iyy="0.000216316347892288"
+        iyz="1.4210833856168E-05"
+        izz="0.000114395570521506" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_thumb_yaw">
+    <inertial>
+      <origin
+        xyz="0.000851891383030774 -0.00483573175773916 -0.00574146645894136"
+        rpy="0 0 0" />
+      <mass
+        value="0.00481739894285163" />
+      <inertia
+        ixx="1.77884271480388E-07"
+        ixy="1.48522080685373E-08"
+        ixz="-1.10224294372931E-09"
+        iyy="9.58668288233385E-08"
+        iyz="-5.5776293980979E-11"
+        izz="1.65931166990387E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_yaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_yaw.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.021 -0.021699 0.04175"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_thumb_yaw" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.92"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_mcp">
+    <inertial>
+      <origin
+        xyz="-0.0251945178412399 0.00470177554341608 -0.00721123225273899"
+        rpy="0 0 0" />
+      <mass
+        value="0.0417558487107307" />
+      <inertia
+        ixx="4.59982517501995E-06"
+        ixy="1.45476527663314E-06"
+        ixz="-5.57455414212812E-09"
+        iyy="6.84084011018754E-06"
+        iyz="6.02057975741715E-09"
+        izz="8.65410202531359E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084186 -0.010193 -0.01022"
+      rpy="1.7453 0 1.7453" />
+    <parent
+      link="left_thumb_yaw" />
+    <child
+      link="left_thumb_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.6632"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_pip">
+    <inertial>
+      <origin
+        xyz="-0.0196407670570219 0.00242380087447701 -0.0109191513474222"
+        rpy="0 0 0" />
+      <mass
+        value="0.0413815384223489" />
+      <inertia
+        ixx="4.9686066477999E-06"
+        ixy="1.31917592849383E-06"
+        ixz="-8.87180077960401E-09"
+        iyy="6.85470350393852E-06"
+        iyz="4.36126634540719E-09"
+        izz="8.67826738799969E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.043727 0.01749 0.0036"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_mcp" />
+    <child
+      link="left_thumb_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.041888"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_thumb_mcp_joint"
+        multiplier="1.0853"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_thumb_dip">
+    <inertial>
+      <origin
+        xyz="-0.0129223062507652 -0.00448889527590449 -0.00799771788559279"
+        rpy="0 0 0" />
+      <mass
+        value="0.0073764770439235" />
+      <inertia
+        ixx="4.78976513280882E-07"
+        ixy="3.84556931848967E-08"
+        ixz="1.02110225470547E-10"
+        iyy="8.07505501706801E-07"
+        iyz="-7.92203147492935E-11"
+        izz="8.31360546482169E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.036427 0.019902 -0.0028"
+      rpy="0 0 0" />
+    <parent
+      link="left_thumb_pip" />
+    <child
+      link="left_thumb_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.03"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_thumb_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.67299529038739E-05 0.00563393604355955 -0.0055985469152464"
+        rpy="0 0 0" />
+      <mass
+        value="0.00085577183134953" />
+      <inertia
+        ixx="4.07064916891433E-08"
+        ixy="2.20186833718841E-12"
+        ixz="4.46928677357564E-12"
+        iyy="1.83895191923608E-08"
+        iyz="9.40855973846822E-09"
+        izz="5.14761959804735E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_thumb_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_thumb_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="-0.025343 0.0072822 -0.0079999"
+      rpy="1.3535 -1.5705 -2.7497" />
+    <parent
+      link="left_thumb_dip" />
+    <child
+      link="left_thumb_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_index_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367355624943706 -0.000210165685896699 -0.00749999786613414"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122294684195" />
+      <inertia
+        ixx="7.19798654010236E-09"
+        ixy="2.00675830489961E-10"
+        ixz="5.35800139465183E-16"
+        iyy="1.51631259358642E-08"
+        iyz="7.8808020866759E-18"
+        izz="1.15932953352023E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.040749 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_index_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_mcp">
+    <inertial>
+      <origin
+        xyz="2.01081678954385E-05 0.0194882004366029 -0.0167588747064354"
+        rpy="0 0 0" />
+      <mass
+        value="0.0424627028306414" />
+      <inertia
+        ixx="8.58404193093052E-06"
+        ixy="-4.86649189841865E-09"
+        ixz="2.95801261849437E-09"
+        iyy="3.47061632985806E-06"
+        iyz="-1.64810832206827E-07"
+        izz="7.46381545111666E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3563E-05 -0.0075"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="left_index_pitch" />
+    <child
+      link="left_index_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_pip">
+    <inertial>
+      <origin
+        xyz="-0.0031442100277055 0.0106745108074461 -0.00864410034762769"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496826825008" />
+      <inertia
+        ixx="4.93348532727428E-07"
+        ixy="8.64722609175115E-08"
+        ixz="5.75135202970078E-10"
+        iyy="4.81536834538903E-07"
+        iyz="-1.94852796061064E-09"
+        izz="5.21883270153211E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="left_index_mcp" />
+    <child
+      link="left_index_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_index_dip">
+    <inertial>
+      <origin
+        xyz="-0.000644960780749607 0.0154183356148398 -0.00810084996821625"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066497989636544" />
+      <inertia
+        ixx="6.05848681421687E-07"
+        ixy="-4.0114267200327E-08"
+        ixz="-2.54519706854004E-11"
+        iyy="1.81146916083006E-07"
+        iyz="4.02788370538172E-11"
+        izz="5.2159176508394E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_index_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_index_pip" />
+    <child
+      link="left_index_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_index_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_index_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.6419592570649E-05 -0.00563391503370096 -0.0055986681004935"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855680272270805" />
+      <inertia
+        ixx="4.07006086898374E-08"
+        ixy="3.90581028846587E-12"
+        ixz="-3.28840069583698E-12"
+        iyy="1.83869471535875E-08"
+        iyz="-9.40679037901272E-09"
+        izz="5.14696285613012E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_index_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_index_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.00818549489331251 0.0312932290613691 -0.00809978577346593"
+      rpy="-1.35354409798538 1.57052831054541 -1.0672782572142" />
+    <parent
+      link="left_index_dip" />
+    <child
+      link="left_index_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_middle_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367355624943699 -0.00021016568589672 -0.00748999786613397"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122294684195" />
+      <inertia
+        ixx="7.19798654010236E-09"
+        ixy="2.00675830489958E-10"
+        ixz="5.35800149235328E-16"
+        iyy="1.51631259358642E-08"
+        iyz="7.88080448202934E-18"
+        izz="1.15932953352023E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.014999 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_middle_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_mcp">
+    <inertial>
+      <origin
+        xyz="2.01080868718062E-05 0.0194882006706334 -0.016758874868155"
+        rpy="0 0 0" />
+      <mass
+        value="0.0424627021476462" />
+      <inertia
+        ixx="8.58404181823664E-06"
+        ixy="-4.86651537082055E-09"
+        ixz="2.95803846084207E-09"
+        iyy="3.47061629473659E-06"
+        iyz="-1.64810918235307E-07"
+        izz="7.46381536621874E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3563E-05 -0.00749"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="left_middle_pitch" />
+    <child
+      link="left_middle_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314421002415795 0.0106745108018346 -0.00864410034869806"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496826726421" />
+      <inertia
+        ixx="4.93348532411765E-07"
+        ixy="8.64722608737503E-08"
+        ixz="5.7513508617295E-10"
+        iyy="4.81536834487158E-07"
+        iyz="-1.94852780934184E-09"
+        izz="5.21883270013693E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="left_middle_mcp" />
+    <child
+      link="left_middle_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_middle_dip">
+    <inertial>
+      <origin
+        xyz="-0.00070151085260297 0.0161183967481758 -0.00810126506829106"
+        rpy="0 0 0" />
+      <mass
+        value="0.00790901041087601" />
+      <inertia
+        ixx="9.91837269531378E-07"
+        ixy="4.22426372885339E-09"
+        ixz="-7.25114351778606E-11"
+        iyy="2.48638803894385E-07"
+        iyz="1.33884896754267E-12"
+        izz="9.19082650617405E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_middle_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_middle_pip" />
+    <child
+      link="left_middle_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_middle_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_middle_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.64223528850149E-05 -0.00563391180018319 -0.00559866505935751"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855681361695818" />
+      <inertia
+        ixx="4.07006377881744E-08"
+        ixy="3.92060544883103E-12"
+        ixz="-3.28368215239387E-12"
+        iyy="1.83869715655375E-08"
+        iyz="-9.40679998842945E-09"
+        izz="5.14696795998988E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_middle_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_middle_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0082142 0.033293 -0.0080998"
+      rpy="-1.3535 1.5705 -1.0673" />
+    <parent
+      link="left_middle_dip" />
+    <child
+      link="left_middle_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_ring_mcp">
+    <inertial>
+      <origin
+        xyz="-0.0107009125022348 0.0212572150630263 -0.00821910322538508"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400001953733367" />
+      <inertia
+        ixx="6.27541142995913E-06"
+        ixy="9.0553023239779E-08"
+        ixz="-3.55622475955702E-09"
+        iyy="3.29043713915748E-06"
+        iyz="4.78116589005191E-09"
+        izz="7.39545321486511E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.0068013 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_ring_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_ring_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314421000244272 0.0106745107764241 -0.00864410034809951"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496824184803" />
+      <inertia
+        ixx="4.93348528578379E-07"
+        ixy="8.64722597415639E-08"
+        ixz="5.75134889447562E-10"
+        iyy="4.81536833451742E-07"
+        iyz="-1.94852695298841E-09"
+        izz="5.21883266633703E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 0.0002499"
+      rpy="0 0 0" />
+    <parent
+      link="left_ring_mcp" />
+    <child
+      link="left_ring_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_ring_dip">
+    <inertial>
+      <origin
+        xyz="-0.000986496330158959 0.015161070987863 -0.00810248182420883"
+        rpy="0 0 0" />
+      <mass
+        value="0.0075190388918139" />
+      <inertia
+        ixx="7.08309084124647E-07"
+        ixy="-2.22155339890792E-08"
+        ixz="1.32726635728809E-13"
+        iyy="2.15393768846705E-07"
+        iyz="-1.02422088180675E-10"
+        izz="6.38509418719673E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_ring_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_ring_pip" />
+    <child
+      link="left_ring_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_ring_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_ring_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.6423789152703E-05 -0.0056339105343866 -0.00559866530634114"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855681070431087" />
+      <inertia
+        ixx="4.07006236210697E-08"
+        ixy="3.91262606693901E-12"
+        ixz="-3.28416455554626E-12"
+        iyy="1.83869633852818E-08"
+        iyz="-9.40679540286337E-09"
+        izz="5.14696600139912E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_ring_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_ring_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081807 0.031294 -0.0080998"
+      rpy="-1.3535 1.5705 -1.0671" />
+    <parent
+      link="left_ring_dip" />
+    <child
+      link="left_ring_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_pinky_mcp">
+    <inertial>
+      <origin
+        xyz="-0.0107009125655834 0.0212572149429738 -0.00821910323444977"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400001954242501" />
+      <inertia
+        ixx="6.27541147264561E-06"
+        ixy="9.05531007275701E-08"
+        ixz="-3.55621499292498E-09"
+        iyy="3.29043711336543E-06"
+        iyz="4.78122498745097E-09"
+        izz="7.39545324312647E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.028301 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_pinky_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_pinky_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314421000226291 0.0106745107879729 -0.00864410035599736"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496823463203" />
+      <inertia
+        ixx="4.93348527609236E-07"
+        ixy="8.6472259734572E-08"
+        ixz="5.751348982168E-10"
+        iyy="4.81536833164814E-07"
+        iyz="-1.94852740171171E-09"
+        izz="5.21883265977948E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 0.0002499"
+      rpy="0 0 0" />
+    <parent
+      link="left_pinky_mcp" />
+    <child
+      link="left_pinky_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="left_pinky_dip">
+    <inertial>
+      <origin
+        xyz="-0.000732357737964155 0.0150759787520019 -0.0080997012450795"
+        rpy="0 0 0" />
+      <mass
+        value="0.00639879609572046" />
+      <inertia
+        ixx="7.6601232537507E-07"
+        ixy="5.97935040360388E-09"
+        ixz="-3.03968179915078E-11"
+        iyy="1.91354789668271E-07"
+        iyz="4.6571728122625E-11"
+        izz="7.0307574610858E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 -0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="left_pinky_pip" />
+    <child
+      link="left_pinky_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="left_pinky_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="left_pinky_force_sensor">
+    <inertial>
+      <origin
+        xyz="-1.64225465788259E-05 -0.00563391115881989 -0.00559866458834149"
+        rpy="0 0 0" />
+      <mass
+        value="0.000855681431680814" />
+      <inertia
+        ixx="4.07006376345194E-08"
+        ixy="3.9229476215294E-12"
+        ixz="-3.28201761053228E-12"
+        iyy="1.83869713003891E-08"
+        iyz="-9.40679972261779E-09"
+        izz="5.14696801822026E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_pinky_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_pinky_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081665 0.030295 -0.0080998"
+      rpy="-1.3535 1.5705 -1.0671" />
+    <parent
+      link="left_pinky_dip" />
+    <child
+      link="left_pinky_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_plam_force_sensor">
+    <inertial>
+      <origin
+        xyz="-0.000380237765193026 0.00147914273731315 -0.00345602529768013"
+        rpy="0 0 0" />
+      <mass
+        value="0.00510271463149053" />
+      <inertia
+        ixx="4.17830273405155E-07"
+        ixy="2.11874404851469E-08"
+        ixz="-9.21294846125974E-09"
+        iyy="1.54127034144581E-06"
+        iyz="9.85829123340138E-09"
+        izz="1.92335367423299E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_plam_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_plam_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="left_plam_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.021234 -0.00025311 0.081611"
+      rpy="1.5316 0.0039142 1.5706" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_plam_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="left_hand_casing">
+    <inertial>
+      <origin
+        xyz="-0.0156295827547175 0.000960308283155131 0.0601967340694911"
+        rpy="0 0 0" />
+      <mass
+        value="0.055636543864245" />
+      <inertia
+        ixx="0.000124482029390561"
+        ixy="-5.02296212758426E-07"
+        ixz="-2.29146396866647E-06"
+        iyy="7.20883924051549E-05"
+        iyz="-3.09726766640788E-06"
+        izz="6.17137905964273E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_casing.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_left/left_hand_casing.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hand_casing_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hand_base" />
+    <child
+      link="left_hand_casing" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+RH5DG2/urdf/Right_Hand.urdf b/Robots_p/ur5+RH5DG2/urdf/Right_Hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..01de6a083f0e0b93239afb2308b65fcc225bf6a8
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/urdf/Right_Hand.urdf
@@ -0,0 +1,1592 @@
+<?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: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot name="RH5DG2_R_2026_01_12">
+  <link
+    name="right_hand_flange">
+    <inertial>
+      <origin
+        xyz="0.000590324230515745 -4.41066235895571E-08 0.018658168492136"
+        rpy="0 0 0" />
+      <mass
+        value="0.0816272765426702" />
+      <inertia
+        ixx="2.75104686550082E-05"
+        ixy="-4.85912163791784E-11"
+        ixz="3.17186486652321E-08"
+        iyy="2.64222243265588E-05"
+        iyz="1.09459930565443E-11"
+        izz="3.62935481756171E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.03"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_flange" />
+    <child
+      link="right_hand_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_hand_base">
+    <inertial>
+      <origin
+        xyz="0.00476756631465456 0.00175486916477953 0.0587979044163915"
+        rpy="0 0 0" />
+      <mass
+        value="0.313373727622822" />
+      <inertia
+        ixx="0.000278996704854979"
+        ixy="5.98018974024641E-06"
+        ixz="-1.05020418854344E-05"
+        iyy="0.000216312986429234"
+        iyz="-1.42127984491883E-05"
+        izz="0.000114394945480033" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="right_thumb_yaw">
+    <inertial>
+      <origin
+        xyz="0.000851897283664193 0.00483571971174275 -0.00574141841695075"
+        rpy="0 0 0" />
+      <mass
+        value="0.00481735450280768" />
+      <inertia
+        ixx="1.77883416432454E-07"
+        ixy="-1.4852348790338E-08"
+        ixz="-1.10223746267107E-09"
+        iyy="9.58659671745112E-08"
+        iyz="5.54372476858133E-11"
+        izz="1.65931218249892E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_yaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_yaw.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.021 0.021699 0.04175"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_thumb_yaw" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.92"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_mcp">
+    <inertial>
+      <origin
+        xyz="0.025194612573869 0.00470162547088749 -0.00721129474275403"
+        rpy="0 0 0" />
+      <mass
+        value="0.0417560711563155" />
+      <inertia
+        ixx="4.59979341669256E-06"
+        ixy="-1.45470106933137E-06"
+        ixz="5.58870625419533E-09"
+        iyy="6.84088254138929E-06"
+        iyz="6.02428016494947E-09"
+        izz="8.65411062567632E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084186 0.010193 -0.01022"
+      rpy="1.7453 0 1.3963" />
+    <parent
+      link="right_thumb_yaw" />
+    <child
+      link="right_thumb_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.6632"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_pip">
+    <inertial>
+      <origin
+        xyz="0.0196408645855889 0.00242395573483212 -0.0109191426793314"
+        rpy="0 0 0" />
+      <mass
+        value="0.0413809633564141" />
+      <inertia
+        ixx="4.96850464366127E-06"
+        ixy="-1.31907241751355E-06"
+        ixz="8.88960161741137E-09"
+        iyy="6.85457643394163E-06"
+        iyz="4.37339295353162E-09"
+        izz="8.67807228359951E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_pip_joint"
+    type="revolute">
+    <origin
+      xyz="0.043727 0.01749 0.0036"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_mcp" />
+    <child
+      link="right_thumb_pip" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.041888"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_thumb_mcp_joint"
+        multiplier="1.0853"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_thumb_dip">
+    <inertial>
+      <origin
+        xyz="0.0129223767041669 -0.00448868354831102 -0.00799774270077806"
+        rpy="0 0 0" />
+      <mass
+        value="0.00737636421207598" />
+      <inertia
+        ixx="4.78965186477482E-07"
+        ixy="-3.84626531297066E-08"
+        ixz="-1.001875596605E-10"
+        iyy="8.07509344169254E-07"
+        iyz="-7.91953445955167E-11"
+        izz="8.31354000304304E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_dip_joint"
+    type="revolute">
+    <origin
+      xyz="0.036427 0.019902 -0.0028"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_pip" />
+    <child
+      link="right_thumb_dip" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.03"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.49901055418299E-05 -0.00563264518277098 -0.00559872008620623"
+        rpy="0 0 0" />
+      <mass
+        value="0.00082154243439554" />
+      <inertia
+        ixx="3.90581954306162E-08"
+        ixy="-1.27342605974583E-11"
+        ixz="1.9845992056927E-12"
+        iyy="1.76549694169177E-08"
+        iyz="-9.02510719590674E-09"
+        izz="4.94025774187095E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.025343 0.0072822 -0.0079999"
+      rpy="-1.2546 -1.5705 -0.4908" />
+    <parent
+      link="right_thumb_dip" />
+    <child
+      link="right_thumb_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367349463998261 -0.000210166188066754 0.00749999141843509"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122602313453" />
+      <inertia
+        ixx="7.1980057585389E-09"
+        ixy="2.00682705504413E-10"
+        ixz="-9.82275603332215E-15"
+        iyy="1.51631692815451E-08"
+        iyz="1.89296029269202E-14"
+        izz="1.15933131895546E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.040749 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_index_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_mcp">
+    <inertial>
+      <origin
+        xyz="-2.01467999326986E-05 0.0194880288322318 -0.0167588939823536"
+        rpy="0 0 0" />
+      <mass
+        value="0.0424626596591662" />
+      <inertia
+        ixx="8.58396037676953E-06"
+        ixy="4.88991803458719E-09"
+        ixz="-2.94206076182322E-09"
+        iyy="3.47062801235869E-06"
+        iyz="-1.64833233320948E-07"
+        izz="7.46371056418488E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3567E-05 0.0075"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="right_index_pitch" />
+    <child
+      link="right_index_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314419755359261 0.0106744889274093 0.00864412503243511"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496268336632" />
+      <inertia
+        ixx="4.93347889217061E-07"
+        ixy="8.64715993100959E-08"
+        ixz="-5.69691223041633E-10"
+        iyy="4.81536550488213E-07"
+        iyz="1.94076484140821E-09"
+        izz="5.21882082889534E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_pip_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="right_index_mcp" />
+    <child
+      link="right_index_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_dip">
+    <inertial>
+      <origin
+        xyz="-0.000644949745313064 0.0154182461989069 0.00810065277966891"
+        rpy="0 0 0" />
+      <mass
+        value="0.00664978049326489" />
+      <inertia
+        ixx="6.05852720084231E-07"
+        ixy="-4.01125528847643E-08"
+        ixz="2.81985876722265E-11"
+        iyy="1.81147685100013E-07"
+        iyz="-2.47884779332845E-11"
+        izz="5.21594011307318E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="right_index_pip" />
+    <child
+      link="right_index_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_index_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_index_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50411264972679E-05 -0.00563322560166721 -0.00559906326998691"
+        rpy="0 0 0" />
+      <mass
+        value="0.000821477170958115" />
+      <inertia
+        ixx="3.90513353148686E-08"
+        ixy="-1.11829645998234E-11"
+        ixz="2.69394488312643E-12"
+        iyy="1.7654484497724E-08"
+        iyz="-9.0241075264863E-09"
+        izz="4.93951009703017E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_index_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081855 0.031293 0.0080998"
+      rpy="1.887 1.5705 2.1733" />
+    <parent
+      link="right_index_dip" />
+    <child
+      link="right_index_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367349404021302 -0.000210161704238897 0.00748999141843493"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122602313453" />
+      <inertia
+        ixx="7.19800575853891E-09"
+        ixy="2.00682705504411E-10"
+        ixz="-9.82275603809425E-15"
+        iyy="1.51631692815451E-08"
+        iyz="1.89296029311036E-14"
+        izz="1.15933131895546E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.014999 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_middle_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_mcp">
+    <inertial>
+      <origin
+        xyz="-2.0146945491413E-05 0.0194880312652293 -0.0167588944645467"
+        rpy="0 0 0" />
+      <mass
+        value="0.042462664998855" />
+      <inertia
+        ixx="8.58396241049123E-06"
+        ixy="4.89002069633661E-09"
+        ixz="-2.94206543993551E-09"
+        iyy="3.47062806248695E-06"
+        iyz="-1.64832922001247E-07"
+        izz="7.46371256678543E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3563E-05 0.00749"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="right_middle_pitch" />
+    <child
+      link="right_middle_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_pip">
+    <inertial>
+      <origin
+        xyz="-0.0031441972034093 0.0106744891490008 0.00864412512279808"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496250418362" />
+      <inertia
+        ixx="4.93347880963852E-07"
+        ixy="8.6471614745122E-08"
+        ixz="-5.69682248129181E-10"
+        iyy="4.81536528984814E-07"
+        iyz="1.94076860553629E-09"
+        izz="5.21882050440504E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_pip_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="right_middle_mcp" />
+    <child
+      link="right_middle_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_dip">
+    <inertial>
+      <origin
+        xyz="-0.000701517469291216 0.0161183560449928 0.00810132146835783"
+        rpy="0 0 0" />
+      <mass
+        value="0.00790894444915994" />
+      <inertia
+        ixx="9.91831302518168E-07"
+        ixy="4.22510553763792E-09"
+        ixz="7.16512413943551E-11"
+        iyy="2.48636663362811E-07"
+        iyz="-1.49937666788817E-11"
+        izz="9.19075362342684E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="right_middle_pip" />
+    <child
+      link="right_middle_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_middle_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_middle_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50394570450282E-05 -0.00563322673087575 -0.00559906338785213"
+        rpy="0 0 0" />
+      <mass
+        value="0.00082147735143828" />
+      <inertia
+        ixx="3.90513415024573E-08"
+        ixy="-1.11899639678725E-11"
+        ixz="2.69219173504368E-12"
+        iyy="1.76544907369721E-08"
+        iyz="-9.02410988222755E-09"
+        izz="4.93951129208313E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_middle_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0082142 0.033293 0.0080998"
+      rpy="1.887 1.5705 2.1733" />
+    <parent
+      link="right_middle_dip" />
+    <child
+      link="right_middle_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_mcp">
+    <inertial>
+      <origin
+        xyz="-0.010700946384068 0.0212571795812487 0.00821908887230147"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400004914542444" />
+      <inertia
+        ixx="6.27547006168206E-06"
+        ixy="9.05324050505327E-08"
+        ixz="3.54862068684509E-09"
+        iyy="3.29045944927205E-06"
+        iyz="-4.7782013472686E-09"
+        izz="7.39552142459584E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.0068013 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_ring_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_ring_pip">
+    <inertial>
+      <origin
+        xyz="0.00314419732096636 -0.0106744890675499 0.00864412507241823"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496256337836" />
+      <inertia
+        ixx="4.93347885228067E-07"
+        ixy="8.64716091309473E-08"
+        ixz="5.6968636055712E-10"
+        iyy="4.81536537220291E-07"
+        iyz="-1.94076631732424E-09"
+        izz="5.21882062158111E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 -0.0002499"
+      rpy="0 0 -3.1416" />
+    <parent
+      link="right_ring_mcp" />
+    <child
+      link="right_ring_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_ring_dip">
+    <inertial>
+      <origin
+        xyz="-0.000986492679010138 0.015161048316122 0.0081024753697552"
+        rpy="0 0 0" />
+      <mass
+        value="0.0075190935660202" />
+      <inertia
+        ixx="7.08307399697461E-07"
+        ixy="-2.22143582188237E-08"
+        ixz="-2.76043626039761E-12"
+        iyy="2.15393048794773E-07"
+        iyz="1.13179084874251E-10"
+        izz="6.38506239799037E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_dip_joint"
+    type="revolute">
+    <origin
+      xyz="0.0032605 -0.018491 0.00035"
+      rpy="0 0 3.1416" />
+    <parent
+      link="right_ring_pip" />
+    <child
+      link="right_ring_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_ring_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_ring_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50394703578235E-05 -0.00563322718894786 -0.0055990635981115"
+        rpy="0 0 0" />
+      <mass
+        value="0.000821477356009259" />
+      <inertia
+        ixx="3.90513390245763E-08"
+        ixy="-1.11888199904122E-11"
+        ixz="2.69290146266632E-12"
+        iyy="1.76544911434498E-08"
+        iyz="-9.02410955691291E-09"
+        izz="4.9395110655834E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_ring_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081807 0.031294 0.0080998"
+      rpy="1.887 1.5705 2.1734" />
+    <parent
+      link="right_ring_dip" />
+    <child
+      link="right_ring_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_pinky_mcp">
+    <inertial>
+      <origin
+        xyz="-0.010700946065574 0.0212571797208405 0.00821908889702942"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400004927621343" />
+      <inertia
+        ixx="6.27547008597196E-06"
+        ixy="9.05323572263552E-08"
+        ixz="3.54861531059295E-09"
+        iyy="3.2904595698359E-06"
+        iyz="-4.77820330506494E-09"
+        izz="7.39552153213612E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.028301 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_pinky_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_pinky_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314419720146366 0.0106744891473517 0.00864412512358675"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496250569101" />
+      <inertia
+        ixx="4.93347880966351E-07"
+        ixy="8.64716148219528E-08"
+        ixz="-5.69682311697152E-10"
+        iyy="4.81536529044768E-07"
+        iyz="1.94076863628207E-09"
+        izz="5.21882050624766E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 -0.0002499"
+      rpy="0 0 0" />
+    <parent
+      link="right_pinky_mcp" />
+    <child
+      link="right_pinky_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_pinky_dip">
+    <inertial>
+      <origin
+        xyz="-0.000732466536179373 0.0150757054237563 0.00809913978154883"
+        rpy="0 0 0" />
+      <mass
+        value="0.0063989372716428" />
+      <inertia
+        ixx="7.66013304699806E-07"
+        ixy="5.97764025776379E-09"
+        ixz="2.53072492811611E-11"
+        iyy="1.91358086550736E-07"
+        iyz="-4.20948025228026E-11"
+        izz="7.03075351565884E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="right_pinky_pip" />
+    <child
+      link="right_pinky_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_pinky_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_pinky_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50349710936193E-05 -0.00563322977530661 -0.00559906603434453"
+        rpy="0 0 0" />
+      <mass
+        value="0.000821476662984886" />
+      <inertia
+        ixx="3.90513382701249E-08"
+        ixy="-1.11824539770243E-11"
+        ixz="2.69617798622852E-12"
+        iyy="1.76544745744708E-08"
+        iyz="-9.02410881725583E-09"
+        izz="4.9395090944421E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081665 0.030295 0.0080998"
+      rpy="1.887 1.5705 2.1734" />
+    <parent
+      link="right_pinky_dip" />
+    <child
+      link="right_pinky_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_plam_force_sensor">
+    <inertial>
+      <origin
+        xyz="0.000380260295352312 0.00147915127629069 -0.00345600862756401"
+        rpy="0 0 0" />
+      <mass
+        value="0.00510273604425368" />
+      <inertia
+        ixx="4.17831151418347E-07"
+        ixy="-2.11883772743013E-08"
+        ixz="9.21528713779677E-09"
+        iyy="1.5412488637117E-06"
+        iyz="9.85909440884654E-09"
+        izz="1.92333287024597E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_plam_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_plam_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_plam_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.021234 0.00025311 0.081611"
+      rpy="1.5316 -0.0039142 1.5709" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_plam_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="right_hand_casing">
+    <inertial>
+      <origin
+        xyz="-0.0156286855968737 -0.000977283040214036 0.0601912621043598"
+        rpy="0 0 0" />
+      <mass
+        value="0.0556767648953531" />
+      <inertia
+        ixx="0.000124534850475658"
+        ixy="5.0052078754887E-07"
+        ixz="-2.29155701714135E-06"
+        iyy="7.21063672909886E-05"
+        iyz="3.09668261327464E-06"
+        izz="6.17530465789103E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_casing.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_casing.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_casing_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_hand_casing" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>
diff --git a/Robots_p/ur5+RH5DG2/urdf/Right_UR5_RH56DFX_with_flange.urdf b/Robots_p/ur5+RH5DG2/urdf/Right_UR5_RH56DFX_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..196f92c3e12220248bc19c517e7c8cb64f59f2f0
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/urdf/Right_UR5_RH56DFX_with_flange.urdf
@@ -0,0 +1,2187 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+
+    <joint name="wrist3_to_r_base" type="fixed">
+      <origin xyz="0 0 0.010" rpy="0 0 1.57"/>
+      <parent link="wrist_3_link"/>
+      <child link="right_hand_flange"/>
+    </joint>
+
+  <link
+    name="right_hand_flange">
+    <inertial>
+      <origin
+        xyz="0.000590324230515745 -4.41066235895571E-08 0.018658168492136"
+        rpy="0 0 0" />
+      <mass
+        value="0.0816272765426702" />
+      <inertia
+        ixx="2.75104686550082E-05"
+        ixy="-4.85912163791784E-11"
+        ixz="3.17186486652321E-08"
+        iyy="2.64222243265588E-05"
+        iyz="1.09459930565443E-11"
+        izz="3.62935481756171E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.03"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_flange" />
+    <child
+      link="right_hand_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="r_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955455001528E-10 1.16584006337739E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425512" />
+      <inertia
+        ixx="5.79403393826274E-06"
+        ixy="-2.14169586327831E-14"
+        ixz="5.36313422038085E-14"
+        iyy="5.79403739954587E-06"
+        iyz="-1.74818936645495E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/r_flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="r_flange_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.00950000000000002"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_flange" />
+    <child
+      link="r_flange" />
+    <axis
+      xyz="0 0 0" />
+  </joint>  
+  <link
+    name="right_hand_base">
+    <inertial>
+      <origin
+        xyz="0.00476756631465456 0.00175486916477953 0.0587979044163915"
+        rpy="0 0 0" />
+      <mass
+        value="0.313373727622822" />
+      <inertia
+        ixx="0.000278996704854979"
+        ixy="5.98018974024641E-06"
+        ixz="-1.05020418854344E-05"
+        iyy="0.000216312986429234"
+        iyz="-1.42127984491883E-05"
+        izz="0.000114394945480033" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="right_thumb_yaw">
+    <inertial>
+      <origin
+        xyz="0.000851897283664193 0.00483571971174275 -0.00574141841695075"
+        rpy="0 0 0" />
+      <mass
+        value="0.00481735450280768" />
+      <inertia
+        ixx="1.77883416432454E-07"
+        ixy="-1.4852348790338E-08"
+        ixz="-1.10223746267107E-09"
+        iyy="9.58659671745112E-08"
+        iyz="5.54372476858133E-11"
+        izz="1.65931218249892E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_yaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_yaw.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="0.021 0.021699 0.04175"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_thumb_yaw" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.92"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_mcp">
+    <inertial>
+      <origin
+        xyz="0.025194612573869 0.00470162547088749 -0.00721129474275403"
+        rpy="0 0 0" />
+      <mass
+        value="0.0417560711563155" />
+      <inertia
+        ixx="4.59979341669256E-06"
+        ixy="-1.45470106933137E-06"
+        ixz="5.58870625419533E-09"
+        iyy="6.84088254138929E-06"
+        iyz="6.02428016494947E-09"
+        izz="8.65411062567632E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084186 0.010193 -0.01022"
+      rpy="1.7453 0 1.3963" />
+    <parent
+      link="right_thumb_yaw" />
+    <child
+      link="right_thumb_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.6632"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_pip">
+    <inertial>
+      <origin
+        xyz="0.0196408645855889 0.00242395573483212 -0.0109191426793314"
+        rpy="0 0 0" />
+      <mass
+        value="0.0413809633564141" />
+      <inertia
+        ixx="4.96850464366127E-06"
+        ixy="-1.31907241751355E-06"
+        ixz="8.88960161741137E-09"
+        iyy="6.85457643394163E-06"
+        iyz="4.37339295353162E-09"
+        izz="8.67807228359951E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_pip_joint"
+    type="revolute">
+    <origin
+      xyz="0.043727 0.01749 0.0036"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_mcp" />
+    <child
+      link="right_thumb_pip" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.041888"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_thumb_mcp_joint"
+        multiplier="1.0853"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_thumb_dip">
+    <inertial>
+      <origin
+        xyz="0.0129223767041669 -0.00448868354831102 -0.00799774270077806"
+        rpy="0 0 0" />
+      <mass
+        value="0.00737636421207598" />
+      <inertia
+        ixx="4.78965186477482E-07"
+        ixy="-3.84626531297066E-08"
+        ixz="-1.001875596605E-10"
+        iyy="8.07509344169254E-07"
+        iyz="-7.91953445955167E-11"
+        izz="8.31354000304304E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_dip_joint"
+    type="revolute">
+    <origin
+      xyz="0.036427 0.019902 -0.0028"
+      rpy="0 0 0" />
+    <parent
+      link="right_thumb_pip" />
+    <child
+      link="right_thumb_dip" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.03"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_thumb_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.49901055418299E-05 -0.00563264518277098 -0.00559872008620623"
+        rpy="0 0 0" />
+      <mass
+        value="0.00082154243439554" />
+      <inertia
+        ixx="3.90581954306162E-08"
+        ixy="-1.27342605974583E-11"
+        ixz="1.9845992056927E-12"
+        iyy="1.76549694169177E-08"
+        iyz="-9.02510719590674E-09"
+        izz="4.94025774187095E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_thumb_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface>  
+    </collision>
+  </link>
+  <joint
+    name="right_thumb_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.025343 0.0072822 -0.0079999"
+      rpy="-1.2546 -1.5705 -0.4908" />
+    <parent
+      link="right_thumb_dip" />
+    <child
+      link="right_thumb_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_index_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367349463998261 -0.000210166188066754 0.00749999141843509"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122602313453" />
+      <inertia
+        ixx="7.1980057585389E-09"
+        ixy="2.00682705504413E-10"
+        ixz="-9.82275603332215E-15"
+        iyy="1.51631692815451E-08"
+        iyz="1.89296029269202E-14"
+        izz="1.15933131895546E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.040749 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_index_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_mcp">
+    <inertial>
+      <origin
+        xyz="-2.01467999326986E-05 0.0194880288322318 -0.0167588939823536"
+        rpy="0 0 0" />
+      <mass
+        value="0.0424626596591662" />
+      <inertia
+        ixx="8.58396037676953E-06"
+        ixy="4.88991803458719E-09"
+        ixz="-2.94206076182322E-09"
+        iyy="3.47062801235869E-06"
+        iyz="-1.64833233320948E-07"
+        izz="7.46371056418488E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3567E-05 0.0075"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="right_index_pitch" />
+    <child
+      link="right_index_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314419755359261 0.0106744889274093 0.00864412503243511"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496268336632" />
+      <inertia
+        ixx="4.93347889217061E-07"
+        ixy="8.64715993100959E-08"
+        ixz="-5.69691223041633E-10"
+        iyy="4.81536550488213E-07"
+        iyz="1.94076484140821E-09"
+        izz="5.21882082889534E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_pip_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="right_index_mcp" />
+    <child
+      link="right_index_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_index_dip">
+    <inertial>
+      <origin
+        xyz="-0.000644949745313064 0.0154182461989069 0.00810065277966891"
+        rpy="0 0 0" />
+      <mass
+        value="0.00664978049326489" />
+      <inertia
+        ixx="6.05852720084231E-07"
+        ixy="-4.01125528847643E-08"
+        ixz="2.81985876722265E-11"
+        iyy="1.81147685100013E-07"
+        iyz="-2.47884779332845E-11"
+        izz="5.21594011307318E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_index_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="right_index_pip" />
+    <child
+      link="right_index_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_index_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_index_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50411264972679E-05 -0.00563322560166721 -0.00559906326998691"
+        rpy="0 0 0" />
+      <mass
+        value="0.000821477170958115" />
+      <inertia
+        ixx="3.90513353148686E-08"
+        ixy="-1.11829645998234E-11"
+        ixz="2.69394488312643E-12"
+        iyy="1.7654484497724E-08"
+        iyz="-9.0241075264863E-09"
+        izz="4.93951009703017E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_index_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_index_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081855 0.031293 0.0080998"
+      rpy="1.887 1.5705 2.1733" />
+    <parent
+      link="right_index_dip" />
+    <child
+      link="right_index_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_middle_pitch">
+    <inertial>
+      <origin
+        xyz="-0.000367349404021302 -0.000210161704238897 0.00748999141843493"
+        rpy="0 0 0" />
+      <mass
+        value="0.00120122602313453" />
+      <inertia
+        ixx="7.19800575853891E-09"
+        ixy="2.00682705504411E-10"
+        ixz="-9.82275603809425E-15"
+        iyy="1.51631692815451E-08"
+        iyz="1.89296029311036E-14"
+        izz="1.15933131895546E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 0.014999 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_middle_pitch" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_mcp">
+    <inertial>
+      <origin
+        xyz="-2.0146945491413E-05 0.0194880312652293 -0.0167588944645467"
+        rpy="0 0 0" />
+      <mass
+        value="0.042462664998855" />
+      <inertia
+        ixx="8.58396241049123E-06"
+        ixy="4.89002069633661E-09"
+        ixz="-2.94206543993551E-09"
+        iyy="3.47062806248695E-06"
+        iyz="-1.64832922001247E-07"
+        izz="7.46371256678543E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.0054995 -7.3563E-05 0.00749"
+      rpy="0.013375 1.5708 0" />
+    <parent
+      link="right_middle_pitch" />
+    <child
+      link="right_middle_mcp" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.26118"
+      upper="0.26118"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_pip">
+    <inertial>
+      <origin
+        xyz="-0.0031441972034093 0.0106744891490008 0.00864412512279808"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496250418362" />
+      <inertia
+        ixx="4.93347880963852E-07"
+        ixy="8.6471614745122E-08"
+        ixz="-5.69682248129181E-10"
+        iyy="4.81536528984814E-07"
+        iyz="1.94076860553629E-09"
+        izz="5.21882050440504E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_pip_joint"
+    type="revolute">
+    <origin
+      xyz="0.0084499 0.042211 -0.0075397"
+      rpy="-1.5708 -1.5574 1.5708" />
+    <parent
+      link="right_middle_mcp" />
+    <child
+      link="right_middle_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_middle_dip">
+    <inertial>
+      <origin
+        xyz="-0.000701517469291216 0.0161183560449928 0.00810132146835783"
+        rpy="0 0 0" />
+      <mass
+        value="0.00790894444915994" />
+      <inertia
+        ixx="9.91831302518168E-07"
+        ixy="4.22510553763792E-09"
+        ixz="7.16512413943551E-11"
+        iyy="2.48636663362811E-07"
+        iyz="-1.49937666788817E-11"
+        izz="9.19075362342684E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_middle_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="right_middle_pip" />
+    <child
+      link="right_middle_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_middle_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_middle_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50394570450282E-05 -0.00563322673087575 -0.00559906338785213"
+        rpy="0 0 0" />
+      <mass
+        value="0.00082147735143828" />
+      <inertia
+        ixx="3.90513415024573E-08"
+        ixy="-1.11899639678725E-11"
+        ixz="2.69219173504368E-12"
+        iyy="1.76544907369721E-08"
+        iyz="-9.02410988222755E-09"
+        izz="4.93951129208313E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_middle_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_middle_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0082142 0.033293 0.0080998"
+      rpy="1.887 1.5705 2.1733" />
+    <parent
+      link="right_middle_dip" />
+    <child
+      link="right_middle_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_ring_mcp">
+    <inertial>
+      <origin
+        xyz="-0.010700946384068 0.0212571795812487 0.00821908887230147"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400004914542444" />
+      <inertia
+        ixx="6.27547006168206E-06"
+        ixy="9.05324050505327E-08"
+        ixz="3.54862068684509E-09"
+        iyy="3.29045944927205E-06"
+        iyz="-4.7782013472686E-09"
+        izz="7.39552142459584E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.0068013 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_ring_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_ring_pip">
+    <inertial>
+      <origin
+        xyz="0.00314419732096636 -0.0106744890675499 0.00864412507241823"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496256337836" />
+      <inertia
+        ixx="4.93347885228067E-07"
+        ixy="8.64716091309473E-08"
+        ixz="5.6968636055712E-10"
+        iyy="4.81536537220291E-07"
+        iyz="-1.94076631732424E-09"
+        izz="5.21882062158111E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 -0.0002499"
+      rpy="0 0 -3.1416" />
+    <parent
+      link="right_ring_mcp" />
+    <child
+      link="right_ring_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_ring_dip">
+    <inertial>
+      <origin
+        xyz="-0.000986492679010138 0.015161048316122 0.0081024753697552"
+        rpy="0 0 0" />
+      <mass
+        value="0.0075190935660202" />
+      <inertia
+        ixx="7.08307399697461E-07"
+        ixy="-2.22143582188237E-08"
+        ixz="-2.76043626039761E-12"
+        iyy="2.15393048794773E-07"
+        iyz="1.13179084874251E-10"
+        izz="6.38506239799037E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_ring_dip_joint"
+    type="revolute">
+    <origin
+      xyz="0.0032605 -0.018491 0.00035"
+      rpy="0 0 3.1416" />
+    <parent
+      link="right_ring_pip" />
+    <child
+      link="right_ring_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_ring_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_ring_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50394703578235E-05 -0.00563322718894786 -0.0055990635981115"
+        rpy="0 0 0" />
+      <mass
+        value="0.000821477356009259" />
+      <inertia
+        ixx="3.90513390245763E-08"
+        ixy="-1.11888199904122E-11"
+        ixz="2.69290146266632E-12"
+        iyy="1.76544911434498E-08"
+        iyz="-9.02410955691291E-09"
+        izz="4.9395110655834E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_ring_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_ring_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081807 0.031294 0.0080998"
+      rpy="1.887 1.5705 2.1734" />
+    <parent
+      link="right_ring_dip" />
+    <child
+      link="right_ring_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_pinky_mcp">
+    <inertial>
+      <origin
+        xyz="-0.010700946065574 0.0212571797208405 0.00821908889702942"
+        rpy="0 0 0" />
+      <mass
+        value="0.0400004927621343" />
+      <inertia
+        ixx="6.27547008597196E-06"
+        ixy="9.05323572263552E-08"
+        ixz="3.54861531059295E-09"
+        iyy="3.2904595698359E-06"
+        iyz="-4.77820330506494E-09"
+        izz="7.39552153213612E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_mcp.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_mcp.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_mcp_joint"
+    type="revolute">
+    <origin
+      xyz="0.01 -0.028301 0.11475"
+      rpy="1.5708 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_pinky_mcp" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.45735"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_pinky_pip">
+    <inertial>
+      <origin
+        xyz="-0.00314419720146366 0.0106744891473517 0.00864412512358675"
+        rpy="0 0 0" />
+      <mass
+        value="0.00574496250569101" />
+      <inertia
+        ixx="4.93347880966351E-07"
+        ixy="8.64716148219528E-08"
+        ixz="-5.69682311697152E-10"
+        iyy="4.81536529044768E-07"
+        iyz="1.94076863628207E-09"
+        izz="5.21882050624766E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_pip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_pip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_pip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0014709 0.04212 -0.0002499"
+      rpy="0 0 0" />
+    <parent
+      link="right_pinky_mcp" />
+    <child
+      link="right_pinky_pip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.396"
+      effort="1"
+      velocity="2" />
+  </joint>
+  <link
+    name="right_pinky_dip">
+    <inertial>
+      <origin
+        xyz="-0.000732466536179373 0.0150757054237563 0.00809913978154883"
+        rpy="0 0 0" />
+      <mass
+        value="0.0063989372716428" />
+      <inertia
+        ixx="7.66013304699806E-07"
+        ixy="5.97764025776379E-09"
+        ixz="2.53072492811611E-11"
+        iyy="1.91358086550736E-07"
+        iyz="-4.20948025228026E-11"
+        izz="7.03075351565884E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_dip.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_dip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_dip_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0032605 0.018491 0.00035"
+      rpy="0 0 0" />
+    <parent
+      link="right_pinky_pip" />
+    <child
+      link="right_pinky_dip" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.568"
+      effort="1"
+      velocity="2" />
+    <mimic
+        joint="right_pinky_pip_joint"
+        multiplier="1.1232"
+        offset="0" /> 
+  </joint>
+  <link
+    name="right_pinky_force_sensor">
+    <inertial>
+      <origin
+        xyz="1.50349710936193E-05 -0.00563322977530661 -0.00559906603434453"
+        rpy="0 0 0" />
+      <mass
+        value="0.000821476662984886" />
+      <inertia
+        ixx="3.90513382701249E-08"
+        ixy="-1.11824539770243E-11"
+        ixz="2.69617798622852E-12"
+        iyy="1.76544745744708E-08"
+        iyz="-9.02410881725583E-09"
+        izz="4.9395090944421E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_pinky_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_pinky_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.0081665 0.030295 0.0080998"
+      rpy="1.887 1.5705 2.1734" />
+    <parent
+      link="right_pinky_dip" />
+    <child
+      link="right_pinky_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="right_plam_force_sensor">
+    <inertial>
+      <origin
+        xyz="0.000380260295352312 0.00147915127629069 -0.00345600862756401"
+        rpy="0 0 0" />
+      <mass
+        value="0.00510273604425368" />
+      <inertia
+        ixx="4.17831151418347E-07"
+        ixy="-2.11883772743013E-08"
+        ixz="9.21528713779677E-09"
+        iyy="1.5412488637117E-06"
+        iyz="9.85909440884654E-09"
+        izz="1.92333287024597E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_plam_force_sensor.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.25 0.25 0.25 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_plam_force_sensor.STL" />
+      </geometry>
+      <surface>
+          <friction>
+              <ode>
+                  <mu>0.25</mu>  
+                  <mu2>0.25</mu2> 
+              </ode>
+          </friction>
+      </surface> 
+    </collision>
+  </link>
+  <joint
+    name="right_plam_force_sensor_joint"
+    type="fixed">
+    <origin
+      xyz="0.021234 0.00025311 0.081611"
+      rpy="1.5316 -0.0039142 1.5709" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_plam_force_sensor" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="right_hand_casing">
+    <inertial>
+      <origin
+        xyz="-0.0156286855968737 -0.000977283040214036 0.0601912621043598"
+        rpy="0 0 0" />
+      <mass
+        value="0.0556767648953531" />
+      <inertia
+        ixx="0.000124534850475658"
+        ixy="5.0052078754887E-07"
+        ixz="-2.29155701714135E-06"
+        iyy="7.21063672909886E-05"
+        iyz="3.09668261327464E-06"
+        izz="6.17530465789103E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_casing.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/hand_right/right_hand_casing.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_casing_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_base" />
+    <child
+      link="right_hand_casing" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+RH5DG2/usd/.asset_hash b/Robots_p/ur5+RH5DG2/usd/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..af5e3fa211750c9eda284426645f5d3390d0de25
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/usd/.asset_hash
@@ -0,0 +1 @@
+6b974bd787934d19759d811b2c122edf
\ No newline at end of file
diff --git a/Robots_p/ur5+RH5DG2/usd/Multi_UR5_RH5DG2_with_flange.usd b/Robots_p/ur5+RH5DG2/usd/Multi_UR5_RH5DG2_with_flange.usd
new file mode 100644
index 0000000000000000000000000000000000000000..64e51064473106f16ddc1e9c5688937c7b6a89ec
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/usd/Multi_UR5_RH5DG2_with_flange.usd differ
diff --git a/Robots_p/ur5+RH5DG2/usd/config.yaml b/Robots_p/ur5+RH5DG2/usd/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3d0117991128f729fc329be00ff5408f2f60b5ac
--- /dev/null
+++ b/Robots_p/ur5+RH5DG2/usd/config.yaml
@@ -0,0 +1,23 @@
+asset_path: /home/ubuntu/zdj/Robots/ur5+RH5DG2/urdf/Multi_UR5_RH5DG2_with_flange.urdf
+usd_dir: /home/ubuntu/zdj/Robots/ur5+RH5DG2/usd_sdf_linux
+usd_file_name: Multi_UR5_RH5DG2_with_flange.usd
+force_usd_conversion: true
+make_instanceable: false
+fix_base: true
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-04-14 at 22:37:35.
+##
diff --git a/Robots_p/ur5+RH5DG2/usd/configuration/Multi_UR5_RH5DG2_with_flange_physics.usd b/Robots_p/ur5+RH5DG2/usd/configuration/Multi_UR5_RH5DG2_with_flange_physics.usd
new file mode 100644
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diff --git a/Robots_p/ur5+RH5DG2/usd/configuration/Multi_UR5_RH5DG2_with_flange_robot.usd b/Robots_p/ur5+RH5DG2/usd/configuration/Multi_UR5_RH5DG2_with_flange_robot.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f9f0cb0c14bc591659e980432eaaabe0d5051fc5
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/usd/configuration/Multi_UR5_RH5DG2_with_flange_robot.usd differ
diff --git a/Robots_p/ur5+RH5DG2/usd/configuration/Multi_UR5_RH5DG2_with_flange_sensor.usd b/Robots_p/ur5+RH5DG2/usd/configuration/Multi_UR5_RH5DG2_with_flange_sensor.usd
new file mode 100644
index 0000000000000000000000000000000000000000..070c30ac87f16e56dc0152cf6f107cb13da6dd58
Binary files /dev/null and b/Robots_p/ur5+RH5DG2/usd/configuration/Multi_UR5_RH5DG2_with_flange_sensor.usd differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/d11.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c1547faf86bb6c7ec719616f3c598944b0fe054
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d11.obj
@@ -0,0 +1,696 @@
+# Blender 4.0.1
+# www.blender.org
+o d1
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/d11_left.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d11_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a5bdb8bca4749463641f5ca7d08976a51da066
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d11_left.obj
@@ -0,0 +1,696 @@
+# Blender 4.0.1
+# www.blender.org
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/d12.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4501d7f771b4d1149c39daf61d4a882e02281a76
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d12.obj
@@ -0,0 +1,635 @@
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/d12_left.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d12_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9718722fb237124fd3099a3cb42f2eafa489897
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d12_left.obj
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/d13.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08d29761cd4aeb50ec6d6e2599fc7a3ab1c4d220
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d13.obj
@@ -0,0 +1,338 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/d13_left.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d13_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86588c2a6a64bbbcd61dbe9e843a02780069ad7c
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/d13_left.obj
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/f11.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94f991665c018c9f43b17e88f1cc03a1ff184cee
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f11.obj
@@ -0,0 +1,521 @@
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+# www.blender.org
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/f12.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2842fa21d3b37ecb6ea567d4f0151b2f107374c5
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f12.obj
@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/f21.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..528df198fffe8a851874da8580470176c66c3011
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f21.obj
@@ -0,0 +1,495 @@
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/f22_f32.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f22_f32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8607e141049f0c71c2a1547cbe97cd32927e3f5a
--- /dev/null
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/f31.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..154935ce31c138a2c238696d9730422d69c1e20c
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f31.obj
@@ -0,0 +1,279 @@
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+# www.blender.org
+o f31
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/f41.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48137e8f9e5a89fd6fcc5aad085e13ab799cd33f
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f41.obj
@@ -0,0 +1,446 @@
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+# www.blender.org
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/f42.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..765c21281ea999c60b1ae1897d0a7ab113f3c103
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/f42.obj
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/collision/finger_tip.obj b/Robots_p/ur5+schunk_hand/meshes/hand/collision/finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130aefc4a0d15e8b2cbe5f00c944f073893542c6
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/collision/finger_tip.obj
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/base10.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/base10.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d8885fa02b99631458a5ec95fb7bb589e620dbb0
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/base10.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/base10.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/base10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b73b23b23b1970ae59bc3562bd1a0b478ab4a27
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/base10.obj
@@ -0,0 +1,2096 @@
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+# www.blender.org
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ac5d26adb5c5070d6d81e52495aedb3c26b36915
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2926d2e9143e03917d770f7857396321b861f5b1
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10.obj
@@ -0,0 +1,959 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib finger.mtl
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10_left.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..16426f27f466591380f5eca89eb8ae6c0b6fe05e
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10_left.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10_left.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e498ec4e95e7ecf7651ca30b04ff7b4a64dfa194
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d10_left.obj
@@ -0,0 +1,960 @@
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2352534c39eb9396bec609a7988a4b434a0995a4
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9eb3fc5a091c44df8bf83c46346ce1eab3c9812
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11.obj
@@ -0,0 +1,2037 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib finger.mtl
+o d11
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11_left.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3245c60f029b12dc68c8b5b259ff50caebf37fb0
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11_left.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11_left.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9e81c5e6606913ad7185b8750a74375bad36914
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d11_left.obj
@@ -0,0 +1,2044 @@
+# Blender 4.0.1
+# www.blender.org
+mtllib finger.mtl
+o d11_left
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12.glb
new file mode 100644
index 0000000000000000000000000000000000000000..42c92e12d768990b728da0ced6afbc0554d35d25
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc2782df878c2383b7f92c5404323fea95edaa9
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12.obj
@@ -0,0 +1,1273 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib finger.mtl
+o d12
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12_left.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c1d11085fad450e28c0e16fc617c62a8a4b71269
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12_left.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12_left.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55772bebb5e0c7f940deba4750bc6d3eb218c39a
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d12_left.obj
@@ -0,0 +1,1273 @@
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+s 1
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9494742745f75ef10cb2a4191c3ccf21b184aa76
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80eb3730f8af0d40eb53c69763726186b7c98eb4
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13.obj
@@ -0,0 +1,991 @@
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+# www.blender.org
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13_left.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8762e677aad59aa3ad38004b1474b8f8fa42e848
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13_left.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13_left.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f772ba8a73429e3f8d5545be105d929d326fff2d
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/d13_left.obj
@@ -0,0 +1,991 @@
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f10_f20.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f10_f20.glb
new file mode 100644
index 0000000000000000000000000000000000000000..66f15190fd584174015414e0f98b692cd5bf2869
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f10_f20.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f10_f20.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f10_f20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf5af7ca412fcba3bf402bdb18b82bd85d02a9d
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f10_f20.obj
@@ -0,0 +1,686 @@
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f11.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f11.glb
new file mode 100644
index 0000000000000000000000000000000000000000..61c37ef35573734aa19cd383d4b565542403a6bc
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f11.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f11.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c192408197373c8ae13c05700926900bdfaef62
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f11.obj
@@ -0,0 +1,2037 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib finger.mtl
+o f11
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+s 1
+usemtl Metall_Alu_final
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f12.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f12.glb
new file mode 100644
index 0000000000000000000000000000000000000000..79ab9334ef57e69c3fca1473f9d2a38591f9788c
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f12.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f12.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b88d224569fff17f29449e6cfa4da1bcab0bb6
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f12.obj
@@ -0,0 +1,1635 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib finger.mtl
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f21.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f21.glb
new file mode 100644
index 0000000000000000000000000000000000000000..023cfd01352b541447a75e75dbfca9dc80cfe78c
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f21.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f21.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9399e7ca5af68d529e1f4f6af0cf7be941e5e1b
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f21.obj
@@ -0,0 +1,2040 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib finger.mtl
+o f21
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+s 1
+usemtl Metall_Alu_final
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f22_f32.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f22_f32.glb
new file mode 100644
index 0000000000000000000000000000000000000000..46ab483210dcd501227022ccf44fba39f2897ce9
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f22_f32.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f22_f32.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f22_f32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55edc00eceac969f524939dc3856f8a29bd4b5bd
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f22_f32.obj
@@ -0,0 +1,1767 @@
+# Blender 3.6.1
+# www.blender.org
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f30_f40.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f30_f40.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9d2d1f367a1c927708389bdd8fd71881a29bb819
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f30_f40.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f30_f40.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f30_f40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c67febf803323e6be12fe700488706a1b7fb63e3
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f30_f40.obj
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f31.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f31.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b50534572528b3d19a5ba2437eb558903f1c106c
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f31.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f31.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a26177221a83b81c583b1f8d4e91407feb3022
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f31.obj
@@ -0,0 +1,2250 @@
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+# www.blender.org
+mtllib finger.mtl
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+s 1
+usemtl Metall_Alu_final
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f41.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f41.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8d544de355ae205c68646db7e0fa91620a5e6ba6
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f41.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f41.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e920809b248efd4e0ed5cd5cc172abd2801f90
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f41.obj
@@ -0,0 +1,2252 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib finger.mtl
+o f41
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+s 1
+usemtl Metall_Alu_final
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+usemtl Gummi_final
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f42.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f42.glb
new file mode 100644
index 0000000000000000000000000000000000000000..89aa5a7cef653202c1dae963a3d09ef1a611b9b0
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f42.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/f42.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b665506b734d4e45f8722c0081ab3e4e3b73626
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/f42.obj
@@ -0,0 +1,1606 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib finger.mtl
+o f42
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/finger.mtl b/Robots_p/ur5+schunk_hand/meshes/hand/visual/finger.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4f82d1be04f85a3e13b22d6a751c80f32796f5e
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/finger.mtl
@@ -0,0 +1,52 @@
+# Blender 3.6.1 MTL File: 'model.blend'
+# www.blender.org
+
+newmtl Gummi_final
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+d 1.000000
+illum 2
+
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+newmtl Metall_Daumen
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/finger_tip.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/finger_tip.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4091bf7a59b3f10addc006a71e6c086b9f67ec79
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/finger_tip.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/finger_tip.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae1fe3ec5bf3c964f5e3cd4694e3183d48031ceb
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/finger_tip.obj
@@ -0,0 +1,1191 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib finger.mtl
+o finger_tip
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3db94906a571c27468468f3526c6dbf87925a993
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26db0c6aea21548897e9c76ad668386f471f43ae
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10.obj
@@ -0,0 +1,4193 @@
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+# www.blender.org
+mtllib palm.mtl
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10_left.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3bb1a5bdce4e0838a509c00f4527c5d64ab1729a
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10_left.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10_left.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4009c9c0e441b135601cc064a42408cee179e2ae
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h10_left.obj
@@ -0,0 +1,4203 @@
+# Blender 4.0.1
+# www.blender.org
+mtllib palm.mtl
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a5f654b5ea35f703028418e530f2229fa1eb5dfa
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c2deb3cc7aa20d45d995421dcb3499a2e6d2e5
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11.obj
@@ -0,0 +1,3276 @@
+# Blender 3.6.1
+# www.blender.org
+mtllib palm.mtl
+o h11
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diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11_left.glb b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8e2b59cb91639e393aed48b1f9fd460281fb81e1
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11_left.glb differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11_left.obj b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d70edf6943d8934667163d8435c6a7f822fe6fa
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/h11_left.obj
@@ -0,0 +1,3277 @@
+# Blender 4.0.1
+# www.blender.org
+mtllib palm.mtl
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+f 610//748 605//741 508//710
+f 520//827 612//31 607//744
+f 507//828 614//751 609//747
+f 518//829 616//754 611//30
+f 618//756 615//753 515//737
+f 505//830 620//759 613//750
+f 622//762 617//755 513//832
+f 623//764 619//758 522//739
+f 512//728 624//766 621//761
+f 634//486 631//573 633//488
+f 643//111 646//41 645//42
+f 702//834 703//833 543//760
+f 704//836 705//835 702//834
+f 705//835 389//614 409//666
+f 534//757 712//838 713//500
+f 532//649 712//838 711//837
+f 707//498 713//500 709//650
+f 535//95 713//500 635//96
+f 626//492 714//170 635//96
+f 628//493 715//94 626//492
+f 626//492 715//94 714//170
+f 704//836 542//765 390//839
+f 540//841 392//840 541//746
+f 562//786 705//835 410//667
+f 559//795 560//791 414//659
+f 798//171 792//843 793//105
+f 793//105 794//844 795//844
+f 796//845 797//102 399//652
+f 799//842 798//171 796//845
+f 415//108 793//105 414//659
+f 646//41 709//650 710//98
+f 706//497 707//498 644//496
+usemtl Metall_goeldlich
+f 823//143 819//847 821//388
+f 823//143 838//174 824//848
+s 0
+f 838//147 842//849 839//147
+s 1
+f 841//148 846//851 842//850
+f 845//151 850//852 846//851
+f 824//848 819//847 823//143
+f 824//848 838//174 839//174
+s 0
+f 841//850 842//849 838//147
+s 1
+f 845//151 846//851 841//148
+f 849//154 850//852 845//151
diff --git a/Robots_p/ur5+schunk_hand/meshes/hand/visual/palm.mtl b/Robots_p/ur5+schunk_hand/meshes/hand/visual/palm.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8c40f69c5d31d87ed01b57f499f0733e2996b12
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/meshes/hand/visual/palm.mtl
@@ -0,0 +1,72 @@
+# Blender 3.6.1 MTL File: 'model.blend'
+# www.blender.org
+
+newmtl Kunststoff_Schwarz
+Ns 640.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.070000 0.070000 0.070000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Gummi_final
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.100000 0.100000 0.100000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Kunststoff_druckschwwarz
+Ns 640.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.200000 0.200000 0.200000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Kunststoff_druckteile_final
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.491020 0.496932 0.527115
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Metall_Alu_final
+Ns 640.000000
+Ka 0.800000 0.800000 0.800000
+Kd 0.799102 0.806952 0.846873
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 2.000000
+d 1.000000
+illum 3
+
+newmtl Metall_Daumen
+Ns 490.000000
+Ka 0.800000 0.800000 0.800000
+Kd 0.350000 0.350000 0.350000
+Ks 0.700000 0.700000 0.700000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3
+
+newmtl Metall_goeldlich
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.831000 0.686000 0.216000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3
diff --git a/Robots_p/ur5+schunk_hand/meshes/ur5/collision/forearm.stl b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/forearm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ffbed4536ef7c23c7691736124e161a226546bb9
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/forearm.stl differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/ur5/collision/left_thumb_1.STL b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/left_thumb_1.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ccb3be77d10642a5c01fb245a63609a9ee22abcc
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/left_thumb_1.STL differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/ur5/collision/shoulder.stl b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/shoulder.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5088831c10deb4656b129feee4bd533824e7c152
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/shoulder.stl differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/ur5/collision/upperarm.stl b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/upperarm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..734386e871f9114d9be2567a68c66179ea8f16b5
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/upperarm.stl differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/ur5/collision/wrist1.stl b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/wrist1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a960c0c571ba7366ed2a72e94ee733bcaf034485
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/wrist1.stl differ
diff --git a/Robots_p/ur5+schunk_hand/meshes/ur5/collision/wrist2.stl b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/wrist2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..9b089de4c6077cc743130865040b934248cc5b4d
Binary files /dev/null and b/Robots_p/ur5+schunk_hand/meshes/ur5/collision/wrist2.stl differ
diff --git a/Robots_p/ur5+schunk_hand/urdf/Left_Hand.urdf b/Robots_p/ur5+schunk_hand/urdf/Left_Hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3801b38ceb8c6dc0d0a96574c72eac919b30d62c
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/urdf/Left_Hand.urdf
@@ -0,0 +1,574 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="svh">
+  <link name="base_link"/>
+  <joint name="root_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="left_hand_base_link"/>
+    <origin rpy="0 0 -1.57079" xyz="0 0 0"/>
+  </joint>
+  <link name="left_hand_base_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.032"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/base10.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.009"/>
+      <geometry>
+        <cylinder radius="0.045" length="0.045"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="left_hand_e1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.01313 0"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h10_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01313 0.013"/>
+      <geometry>
+        <box size="0.05 0.05 0.026"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.00573 0.0035 0.05747"/>
+      <geometry>
+        <box size="0.0584 0.038 0.0641"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.01 0.0035 0.096"/>
+      <geometry>
+        <box size="0.042 0.038 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="left_hand_e2">
+    <visual>
+      <origin xyz="0.0007 0 -0.01002"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.016 0 0.02"/>
+      <geometry>
+        <box size="0.0246 0.035 0.0564"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0032 -0.0083 0.048"/>
+      <geometry>
+        <box size="0.012 0.018 0.021"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- THUMB LINKS -->
+  <link name="left_hand_z">
+    <visual>
+      <origin xyz="0 0 0.02442"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d10_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.02842"/>
+      <geometry>
+        <box size="0.024 0.0188 0.008"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_a">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_b">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d12_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d12_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_c">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d13_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d13_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- INDEX FINGER LINKS -->
+  <link name="left_hand_virtual_l">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00121"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_l">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f11.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_p">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.000 0.000"/>
+      <mass value="0.024"/>
+      <inertia ixx="9e-7" ixy="0.0" ixz="0.0" iyy="3e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f12.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f12.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_t">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- MIDDLE FINGER LINKS -->
+  <link name="left_hand_virtual_k">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_k">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f21.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f21.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_o">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_s">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- RING FINGER LINKS -->
+  <link name="left_hand_virtual_j">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_j">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f31.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f31.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_n">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_r">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LITTLE FINGER LINKS -->
+  <link name="left_hand_virtual_i">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_i">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f41.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f41.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_m">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="8e-7" ixy="0.0" ixz="0.0" iyy="2e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f42.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f42.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_q">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_Thumb_Flexion" type="revolute">
+    <parent link="left_hand_z"/>
+    <child link="left_hand_a"/>
+    <limit effort="1000.0" lower="-0.9704" upper="0.0"  velocity="1"/>
+    <origin rpy="-1.57079 -0.6004 -1.57079" xyz="0 0 0.04596"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- BASE_LINE JOINTS -->
+  <joint name="left_hand_Thumb_Opposition" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_z"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9879" velocity="1"/>
+    <origin rpy="0 0.2618 1.571" xyz="0.0169 0.02626 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_f4" type="fixed">
+    <parent link="left_hand_base_link"/>
+    <child link="left_hand_e1"/>
+    <origin rpy="0 0 0" xyz="0 -0.01313 0"/>
+  </joint>
+  <joint name="left_hand_j5" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_e2"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.98786" velocity="1"/>
+    <origin rpy="0 0 0" xyz="-0.0184 0.006 0.0375"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Opposition" multiplier="1" offset="0"/>
+  </joint>
+  <!-- THUMB JOINTS -->
+  <joint name="left_hand_j3" type="revolute">
+    <parent link="left_hand_a"/>
+    <child link="left_hand_b"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.98506" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0485 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Flexion" multiplier="1.01511" offset="0"/>
+  </joint>
+  <joint name="left_hand_j4" type="revolute">
+    <parent link="left_hand_b"/>
+    <child link="left_hand_c"/>
+    <limit effort="1000.0" lower="-1.406" upper="0" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.030 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Flexion" multiplier="1.44889" offset="0"/>
+  </joint>
+  <!-- INDEX FINGER JOINTS -->
+  <joint name="left_hand_Index_Finger_Distal" type="revolute">
+    <parent link="left_hand_l"/>
+    <child link="left_hand_p"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04804 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_Index_Finger_Proximal" type="revolute">
+    <parent link="left_hand_virtual_l"/>
+    <child link="left_hand_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- JOINT Finger_Spread in BASE_LINE section for better UX -->
+  <joint name="left_hand_j14" type="revolute">
+    <parent link="left_hand_p"/>
+    <child link="left_hand_t"/>
+    <limit effort="1000.0" lower="0" upper="1.394" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.026 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Index_Finger_Distal" multiplier="1.0450" offset="0"/>
+  </joint>
+  <!-- MIDDLE FINGER JOINTS -->
+  <joint name="left_hand_Middle_Finger_Proximal" type="revolute">
+    <parent link="left_hand_virtual_k"/>
+    <child link="left_hand_k"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_Middle_Finger_Distal" type="revolute">
+    <parent link="left_hand_k"/>
+    <child link="left_hand_o"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j15" type="revolute">
+    <parent link="left_hand_o"/>
+    <child link="left_hand_s"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Middle_Finger_Distal" multiplier="1.0454" offset="0"/>
+  </joint>
+  <!-- RING FINGER JOINTS -->
+  <joint name="left_hand_Ring_Finger" type="revolute">
+    <parent link="left_hand_virtual_j"/>
+    <child link="left_hand_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j12" type="revolute">
+    <parent link="left_hand_j"/>
+    <child link="left_hand_n"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Ring_Finger" multiplier="1.3588" offset="0"/>
+  </joint>
+  <joint name="left_hand_j16" type="revolute">
+    <parent link="left_hand_n"/>
+    <child link="left_hand_r"/>
+    <limit effort="1000.0" lower="0" upper="1.395" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Ring_Finger" multiplier="1.42093" offset="0"/>
+  </joint>
+  <!-- PINKY JOINTS -->
+  <joint name="left_hand_Pinky" type="revolute">
+    <parent link="left_hand_virtual_i"/>
+    <child link="left_hand_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j13" type="revolute">
+    <parent link="left_hand_i"/>
+    <child link="left_hand_m"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04454 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Pinky" multiplier="1.35880" offset="0"/>
+  </joint>
+  <joint name="left_hand_j17" type="revolute">
+    <parent link="left_hand_m"/>
+    <child link="left_hand_q"/>
+    <limit effort="1000.0" lower="0" upper="1.3971" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.022 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Pinky" multiplier="1.42307" offset="0"/>
+  </joint>
+  <joint name="left_hand_index_spread" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_virtual_l"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.28833" velocity="1"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0.025 0 0.110"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="left_hand_middle_spread_dummy" type="fixed">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_virtual_k"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0 0 0.110"/>
+  </joint>
+  <joint name="left_hand_ring_spread" type="revolute">
+    <parent link="left_hand_e2"/>
+    <child link="left_hand_virtual_j"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.28833" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="-0.003855 -0.006 0.0655"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="left_hand_Finger_Spread" type="revolute">
+    <parent link="left_hand_e2"/>
+    <child link="left_hand_virtual_i"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.5829" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="-0.025355 -0.006 0.056"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="thtip"/>
+  <link name="fftip"/>
+  <link name="mftip"/>
+  <link name="rftip"/>
+  <link name="lftip"/>
+  <joint name="thtip_joint" type="fixed">
+    <parent link="left_hand_c"/>
+    <child link="thtip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.0275 0.000 0.000"/>
+  </joint>
+  <joint name="fftip_joint" type="fixed">
+    <parent link="left_hand_t"/>
+    <child link="fftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="mftip_joint" type="fixed">
+    <parent link="left_hand_s"/>
+    <child link="mftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="rftip_joint" type="fixed">
+    <parent link="left_hand_r"/>
+    <child link="rftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="lftip_joint" type="fixed">
+    <parent link="left_hand_q"/>
+    <child link="lftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+</robot>
+
diff --git a/Robots_p/ur5+schunk_hand/urdf/Left_UR5_schunk_hand_with_flange.urdf b/Robots_p/ur5+schunk_hand/urdf/Left_UR5_schunk_hand_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..40ae68b77d06f665b7d3270b47db181a98bc43bf
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/urdf/Left_UR5_schunk_hand_with_flange.urdf
@@ -0,0 +1,1156 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="L_arm_base_link"/>
+  <link name="L_arm_base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="L_arm_shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="L_arm_upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="L_arm_forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="L_arm_base_link-L_arm_base_link_inertia" type="fixed">
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base_link_inertia"/>
+    <!-- 'L_arm_base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'L_arm_base_link' and 'L_arm_base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="L_arm_shoulder_pan_joint" type="revolute">
+    <parent link="L_arm_base_link_inertia"/>
+    <child link="L_arm_shoulder_link"/>
+    <origin rpy="0 0 3.14" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_shoulder_lift_joint" type="revolute">
+    <parent link="L_arm_shoulder_link"/>
+    <child link="L_arm_upper_arm_link"/>
+    <origin rpy="-1.570796327 0 3.14" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_elbow_joint" type="revolute">
+    <parent link="L_arm_upper_arm_link"/>
+    <child link="L_arm_forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_1_joint" type="revolute">
+    <parent link="L_arm_forearm_link"/>
+    <child link="L_arm_wrist_1_link"/>
+    <origin rpy="0 0 3.14" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_2_joint" type="revolute">
+    <parent link="L_arm_wrist_1_link"/>
+    <child link="L_arm_wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_3_joint" type="revolute">
+    <parent link="L_arm_wrist_2_link"/>
+    <child link="L_arm_wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - L_arm_base_link to UR 'Base' Coordinates transform -->
+  <link name="L_arm_base"/>
+  <joint name="L_arm_base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as L_arm_base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="L_arm_flange"/>
+  <joint name="L_arm_wrist_3-flange" type="fixed">
+    <parent link="L_arm_wrist_3_link"/>
+    <child link="L_arm_flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="L_arm_tool0"/>
+  <joint name="L_arm_flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="L_arm_flange"/>
+    <child link="L_arm_tool0"/>
+  </joint>
+  
+    <joint name="wrist3_to_l_base" type="fixed">
+      <origin xyz="0 0 0.0004" rpy="0 0 1.57"/>
+      <parent link="L_arm_wrist_3_link"/>
+      <child link="l_arm_flange"/>
+    </joint>
+  <link
+    name="l_arm_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955455001528E-10 1.16584006337739E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425512" />
+      <inertia
+        ixx="5.79403393826274E-06"
+        ixy="-2.14169586327831E-14"
+        ixz="5.36313422038085E-14"
+        iyy="5.79403739954587E-06"
+        iyz="-1.74818936645495E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/ur5/flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/ur5/flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+    <joint name="l_arm_flange_to_left_hand_base_link" type="fixed">
+      <origin xyz="0 0 0.0425" rpy="0 0 -1.57"/>
+      <parent link="l_arm_flange"/>
+      <child link="left_hand_base_link"/>
+    </joint>    
+  <link name="left_hand_base_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.032"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/base10.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.009"/>
+      <geometry>
+        <cylinder radius="0.045" length="0.045"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="left_hand_e1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.01313 0"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h10_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01313 0.013"/>
+      <geometry>
+        <box size="0.05 0.05 0.026"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.00573 0.0035 0.05747"/>
+      <geometry>
+        <box size="0.0584 0.038 0.0641"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.01 0.0035 0.096"/>
+      <geometry>
+        <box size="0.042 0.038 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="left_hand_e2">
+    <visual>
+      <origin xyz="0.0007 0 -0.01002"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.016 0 0.02"/>
+      <geometry>
+        <box size="0.0246 0.035 0.0564"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0032 -0.0083 0.048"/>
+      <geometry>
+        <box size="0.012 0.018 0.021"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- THUMB LINKS -->
+  <link name="left_hand_z">
+    <visual>
+      <origin xyz="0 0 0.02442"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d10_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.02842"/>
+      <geometry>
+        <box size="0.024 0.0188 0.008"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_a">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_b">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d12_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d12_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_c">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d13_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d13_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- INDEX FINGER LINKS -->
+  <link name="left_hand_virtual_l">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00121"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_l">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f11.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_p">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.000 0.000"/>
+      <mass value="0.024"/>
+      <inertia ixx="9e-7" ixy="0.0" ixz="0.0" iyy="3e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f12.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f12.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_t">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- MIDDLE FINGER LINKS -->
+  <link name="left_hand_virtual_k">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_k">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f21.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f21.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_o">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_s">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- RING FINGER LINKS -->
+  <link name="left_hand_virtual_j">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_j">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f31.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f31.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_n">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_r">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LITTLE FINGER LINKS -->
+  <link name="left_hand_virtual_i">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_i">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f41.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f41.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_m">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="8e-7" ixy="0.0" ixz="0.0" iyy="2e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f42.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f42.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_q">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_Thumb_Flexion" type="revolute">
+    <parent link="left_hand_z"/>
+    <child link="left_hand_a"/>
+    <limit effort="1000.0" lower="-0.9704" upper="0.0"  velocity="1"/>
+    <origin rpy="-1.57079 -0.6004 -1.57079" xyz="0 0 0.04596"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- BASE_LINE JOINTS -->
+  <joint name="left_hand_Thumb_Opposition" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_z"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9879" velocity="1"/>
+    <origin rpy="0 0.2618 1.571" xyz="0.0169 0.02626 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_f4" type="fixed">
+    <parent link="left_hand_base_link"/>
+    <child link="left_hand_e1"/>
+    <origin rpy="0 0 0" xyz="0 -0.01313 0"/>
+  </joint>
+  <joint name="left_hand_j5" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_e2"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.98786" velocity="1"/>
+    <origin rpy="0 0 0" xyz="-0.0184 0.006 0.0375"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Opposition" multiplier="1" offset="0"/>
+  </joint>
+  <!-- THUMB JOINTS -->
+  <joint name="left_hand_j3" type="revolute">
+    <parent link="left_hand_a"/>
+    <child link="left_hand_b"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.98506" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0485 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Flexion" multiplier="1.01511" offset="0"/>
+  </joint>
+  <joint name="left_hand_j4" type="revolute">
+    <parent link="left_hand_b"/>
+    <child link="left_hand_c"/>
+    <limit effort="1000.0" lower="-1.406" upper="0" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.030 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Flexion" multiplier="1.44889" offset="0"/>
+  </joint>
+  <!-- INDEX FINGER JOINTS -->
+  <joint name="left_hand_Index_Finger_Distal" type="revolute">
+    <parent link="left_hand_l"/>
+    <child link="left_hand_p"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04804 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_Index_Finger_Proximal" type="revolute">
+    <parent link="left_hand_virtual_l"/>
+    <child link="left_hand_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- JOINT Finger_Spread in BASE_LINE section for better UX -->
+  <joint name="left_hand_j14" type="revolute">
+    <parent link="left_hand_p"/>
+    <child link="left_hand_t"/>
+    <limit effort="1000.0" lower="0" upper="1.394" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.026 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Index_Finger_Distal" multiplier="1.0450" offset="0"/>
+  </joint>
+  <!-- MIDDLE FINGER JOINTS -->
+  <joint name="left_hand_Middle_Finger_Proximal" type="revolute">
+    <parent link="left_hand_virtual_k"/>
+    <child link="left_hand_k"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_Middle_Finger_Distal" type="revolute">
+    <parent link="left_hand_k"/>
+    <child link="left_hand_o"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j15" type="revolute">
+    <parent link="left_hand_o"/>
+    <child link="left_hand_s"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Middle_Finger_Distal" multiplier="1.0454" offset="0"/>
+  </joint>
+  <!-- RING FINGER JOINTS -->
+  <joint name="left_hand_Ring_Finger" type="revolute">
+    <parent link="left_hand_virtual_j"/>
+    <child link="left_hand_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j12" type="revolute">
+    <parent link="left_hand_j"/>
+    <child link="left_hand_n"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Ring_Finger" multiplier="1.3588" offset="0"/>
+  </joint>
+  <joint name="left_hand_j16" type="revolute">
+    <parent link="left_hand_n"/>
+    <child link="left_hand_r"/>
+    <limit effort="1000.0" lower="0" upper="1.395" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Ring_Finger" multiplier="1.42093" offset="0"/>
+  </joint>
+  <!-- PINKY JOINTS -->
+  <joint name="left_hand_Pinky" type="revolute">
+    <parent link="left_hand_virtual_i"/>
+    <child link="left_hand_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j13" type="revolute">
+    <parent link="left_hand_i"/>
+    <child link="left_hand_m"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04454 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Pinky" multiplier="1.35880" offset="0"/>
+  </joint>
+  <joint name="left_hand_j17" type="revolute">
+    <parent link="left_hand_m"/>
+    <child link="left_hand_q"/>
+    <limit effort="1000.0" lower="0" upper="1.3971" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.022 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Pinky" multiplier="1.42307" offset="0"/>
+  </joint>
+  <joint name="left_hand_index_spread" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_virtual_l"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.28833" velocity="1"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0.025 0 0.110"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="left_hand_middle_spread_dummy" type="fixed">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_virtual_k"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0 0 0.110"/>
+  </joint>
+  <joint name="left_hand_ring_spread" type="revolute">
+    <parent link="left_hand_e2"/>
+    <child link="left_hand_virtual_j"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.28833" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="-0.003855 -0.006 0.0655"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="left_hand_Finger_Spread" type="revolute">
+    <parent link="left_hand_e2"/>
+    <child link="left_hand_virtual_i"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.5829" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="-0.025355 -0.006 0.056"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="thtip"/>
+  <link name="fftip"/>
+  <link name="mftip"/>
+  <link name="rftip"/>
+  <link name="lftip"/>
+  <joint name="thtip_joint" type="fixed">
+    <parent link="left_hand_c"/>
+    <child link="thtip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.0275 0.000 0.000"/>
+  </joint>
+  <joint name="fftip_joint" type="fixed">
+    <parent link="left_hand_t"/>
+    <child link="fftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="mftip_joint" type="fixed">
+    <parent link="left_hand_s"/>
+    <child link="mftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="rftip_joint" type="fixed">
+    <parent link="left_hand_r"/>
+    <child link="rftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="lftip_joint" type="fixed">
+    <parent link="left_hand_q"/>
+    <child link="lftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+schunk_hand/urdf/Multi_UR5.urdf b/Robots_p/ur5+schunk_hand/urdf/Multi_UR5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa91c34018d9e90cc5d37e69a102127bbf990ad8
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/urdf/Multi_UR5.urdf
@@ -0,0 +1,795 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+
+    <joint name="distance_joint" type="fixed">
+      <origin xyz="0 1 0" rpy="0 0 0"/>
+      <parent link="base_link"/>
+      <child link="L_arm_base_link"/>
+    </joint>
+  
+  <link name="L_arm_base_link"/>
+  <link name="L_arm_base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="L_arm_shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="L_arm_upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="L_arm_forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="L_arm_base_link-L_arm_base_link_inertia" type="fixed">
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base_link_inertia"/>
+    <!-- 'L_arm_base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'L_arm_base_link' and 'L_arm_base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="L_arm_shoulder_pan_joint" type="revolute">
+    <parent link="L_arm_base_link_inertia"/>
+    <child link="L_arm_shoulder_link"/>
+    <origin rpy="0 0 3.14" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_shoulder_lift_joint" type="revolute">
+    <parent link="L_arm_shoulder_link"/>
+    <child link="L_arm_upper_arm_link"/>
+    <origin rpy="-1.570796327 0 3.14" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_elbow_joint" type="revolute">
+    <parent link="L_arm_upper_arm_link"/>
+    <child link="L_arm_forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_1_joint" type="revolute">
+    <parent link="L_arm_forearm_link"/>
+    <child link="L_arm_wrist_1_link"/>
+    <origin rpy="0 0 3.14" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_2_joint" type="revolute">
+    <parent link="L_arm_wrist_1_link"/>
+    <child link="L_arm_wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_3_joint" type="revolute">
+    <parent link="L_arm_wrist_2_link"/>
+    <child link="L_arm_wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - L_arm_base_link to UR 'Base' Coordinates transform -->
+  <link name="L_arm_base"/>
+  <joint name="L_arm_base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as L_arm_base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="L_arm_flange"/>
+  <joint name="L_arm_wrist_3-flange" type="fixed">
+    <parent link="L_arm_wrist_3_link"/>
+    <child link="L_arm_flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="L_arm_tool0"/>
+  <joint name="L_arm_flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="L_arm_flange"/>
+    <child link="L_arm_tool0"/>
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+schunk_hand/urdf/Multi_UR5_schunk_hand_with_flange.urdf b/Robots_p/ur5+schunk_hand/urdf/Multi_UR5_schunk_hand_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..94d639c1de5c0d33de377b659c370bebb0b8b395
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/urdf/Multi_UR5_schunk_hand_with_flange.urdf
@@ -0,0 +1,2025 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+
+    <joint name="wrist3_to_r_arm_flange" type="fixed">
+      <origin xyz="0 0 0.0004" rpy="0 0 -1.57"/>
+      <parent link="wrist_3_link"/>
+      <child link="r_arm_flange"/>
+    </joint>
+  <link
+    name="r_arm_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955455001528E-10 1.16584006337739E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425512" />
+      <inertia
+        ixx="5.79403393826274E-06"
+        ixy="-2.14169586327831E-14"
+        ixz="5.36313422038085E-14"
+        iyy="5.79403739954587E-06"
+        iyz="-1.74818936645495E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/ur5/flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/ur5/flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+    <joint name="r_arm_flange_to_right_hand_base_link" type="fixed">
+      <origin xyz="0 0 0.0425" rpy="0 0 1.57"/>
+      <parent link="r_arm_flange"/>
+      <child link="right_hand_base_link"/>
+    </joint>
+  <link name="right_hand_base_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.032"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/base10.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.009"/>
+      <geometry>
+        <cylinder radius="0.045" length="0.045"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="right_hand_e1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.01313 0"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h10.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01313 0.013"/>
+      <geometry>
+        <box size="0.05 0.05 0.026"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.00573 0.0035 0.05747"/>
+      <geometry>
+        <box size="0.0584 0.038 0.0641"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.01 0.0035 0.096"/>
+      <geometry>
+        <box size="0.042 0.038 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="right_hand_e2">
+    <visual>
+      <origin xyz="-0.0007 0 -0.01002"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h11.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016 0 0.02"/>
+      <geometry>
+        <box size="0.0246 0.035 0.0564"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0032 -0.0083 0.048"/>
+      <geometry>
+        <box size="0.012 0.018 0.021"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- THUMB LINKS -->
+  <link name="right_hand_z">
+    <visual>
+      <origin xyz="0 0 0.02442"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d10.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.02842"/>
+      <geometry>
+        <box size="0.024 0.0188 0.008"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_a">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d11.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_b">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d12.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d12.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_c">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d13.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d13.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- INDEX FINGER LINKS -->
+  <link name="right_hand_virtual_l">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00121"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_l">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f11.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_p">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.000 0.000"/>
+      <mass value="0.024"/>
+      <inertia ixx="9e-7" ixy="0.0" ixz="0.0" iyy="3e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f12.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f12.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_t">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- MIDDLE FINGER LINKS -->
+  <link name="right_hand_virtual_k">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_k">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f21.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f21.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_o">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_s">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- RING FINGER LINKS -->
+  <link name="right_hand_virtual_j">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_j">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f31.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f31.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_n">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_r">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LITTLE FINGER LINKS -->
+  <link name="right_hand_virtual_i">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_i">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f41.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f41.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_m">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="8e-7" ixy="0.0" ixz="0.0" iyy="2e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f42.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f42.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_q">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_Thumb_Flexion" type="revolute">
+    <parent link="right_hand_z"/>
+    <child link="right_hand_a"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9704" velocity="1"/>
+    <origin rpy="1.57079 -0.6004 1.57079" xyz="0 0 0.04596"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- BASE_LINE JOINTS -->
+  <joint name="right_hand_Thumb_Opposition" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_z"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9879" velocity="1"/>
+    <origin rpy="0 0.2618 1.571" xyz="-0.0169 0.02626 0"/>
+    <axis xyz="0 0 -1"/>
+  </joint>
+  <joint name="right_hand_f4" type="fixed">
+    <parent link="right_hand_base_link"/>
+    <child link="right_hand_e1"/>
+    <origin rpy="0 0 0" xyz="0 -0.01313 0"/>
+  </joint>
+  <joint name="right_hand_j5" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_e2"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98786" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0184 0.006 0.0375"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Opposition" multiplier="1" offset="0"/>
+  </joint>
+  <!-- THUMB JOINTS -->
+  <joint name="right_hand_j3" type="revolute">
+    <parent link="right_hand_a"/>
+    <child link="right_hand_b"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98506" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0485 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Flexion" multiplier="1.01511" offset="0"/>
+  </joint>
+  <joint name="right_hand_j4" type="revolute">
+    <parent link="right_hand_b"/>
+    <child link="right_hand_c"/>
+    <limit effort="1000.0" lower="0.0" upper="1.406" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.030 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Flexion" multiplier="1.44889" offset="0"/>
+  </joint>
+  <!-- INDEX FINGER JOINTS -->
+  <joint name="right_hand_Index_Finger_Distal" type="revolute">
+    <parent link="right_hand_l"/>
+    <child link="right_hand_p"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04804 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_Index_Finger_Proximal" type="revolute">
+    <parent link="right_hand_virtual_l"/>
+    <child link="right_hand_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- JOINT Finger_Spread in BASE_LINE section for better UX -->
+  <joint name="right_hand_j14" type="revolute">
+    <parent link="right_hand_p"/>
+    <child link="right_hand_t"/>
+    <limit effort="1000.0" lower="0" upper="1.394" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.026 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Index_Finger_Distal" multiplier="1.0450" offset="0"/>
+  </joint>
+  <!-- MIDDLE FINGER JOINTS -->
+  <joint name="right_hand_Middle_Finger_Proximal" type="revolute">
+    <parent link="right_hand_virtual_k"/>
+    <child link="right_hand_k"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_Middle_Finger_Distal" type="revolute">
+    <parent link="right_hand_k"/>
+    <child link="right_hand_o"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j15" type="revolute">
+    <parent link="right_hand_o"/>
+    <child link="right_hand_s"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Middle_Finger_Distal" multiplier="1.0454" offset="0"/>
+  </joint>
+  <!-- RING FINGER JOINTS -->
+  <joint name="right_hand_Ring_Finger" type="revolute">
+    <parent link="right_hand_virtual_j"/>
+    <child link="right_hand_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j12" type="revolute">
+    <parent link="right_hand_j"/>
+    <child link="right_hand_n"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Ring_Finger" multiplier="1.3588" offset="0"/>
+  </joint>
+  <joint name="right_hand_j16" type="revolute">
+    <parent link="right_hand_n"/>
+    <child link="right_hand_r"/>
+    <limit effort="1000.0" lower="0" upper="1.395" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Ring_Finger" multiplier="1.42093" offset="0"/>
+  </joint>
+  <!-- PINKY JOINTS -->
+  <joint name="right_hand_Pinky" type="revolute">
+    <parent link="right_hand_virtual_i"/>
+    <child link="right_hand_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j13" type="revolute">
+    <parent link="right_hand_i"/>
+    <child link="right_hand_m"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04454 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Pinky" multiplier="1.35880" offset="0"/>
+  </joint>
+  <joint name="right_hand_j17" type="revolute">
+    <parent link="right_hand_m"/>
+    <child link="right_hand_q"/>
+    <limit effort="1000.0" lower="0" upper="1.3971" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.022 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Pinky" multiplier="1.42307" offset="0"/>
+  </joint>
+  <joint name="right_hand_index_spread" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_virtual_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.28833" velocity="1"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="-0.025 0 0.110"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="right_hand_middle_spread_dummy" type="fixed">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_virtual_k"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0 0 0.110"/>
+  </joint>
+  <joint name="right_hand_ring_spread" type="revolute">
+    <parent link="right_hand_e2"/>
+    <child link="right_hand_virtual_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.28833" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="0.003855 -0.006 0.0655"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="right_hand_Finger_Spread" type="revolute">
+    <parent link="right_hand_e2"/>
+    <child link="right_hand_virtual_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.5829" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="0.025355 -0.006 0.056"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="thtip"/>
+  <link name="fftip"/>
+  <link name="mftip"/>
+  <link name="rftip"/>
+  <link name="lftip"/>
+  <joint name="thtip_joint" type="fixed">
+    <parent link="right_hand_c"/>
+    <child link="thtip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.0275 0.000 0.000"/>
+  </joint>
+  <joint name="fftip_joint" type="fixed">
+    <parent link="right_hand_t"/>
+    <child link="fftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="mftip_joint" type="fixed">
+    <parent link="right_hand_s"/>
+    <child link="mftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="rftip_joint" type="fixed">
+    <parent link="right_hand_r"/>
+    <child link="rftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="lftip_joint" type="fixed">
+    <parent link="right_hand_q"/>
+    <child link="lftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+
+    <joint name="distance_joint" type="fixed">
+      <origin xyz="0 1 0" rpy="0 0 0"/>
+      <parent link="base_link"/>
+      <child link="L_arm_base_link"/>
+    </joint>
+  
+  <link name="L_arm_base_link"/>
+  <link name="L_arm_base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="L_arm_shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="L_arm_upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="L_arm_forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="L_arm_wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="L_arm_base_link-L_arm_base_link_inertia" type="fixed">
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base_link_inertia"/>
+    <!-- 'L_arm_base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'L_arm_base_link' and 'L_arm_base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="L_arm_shoulder_pan_joint" type="revolute">
+    <parent link="L_arm_base_link_inertia"/>
+    <child link="L_arm_shoulder_link"/>
+    <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_shoulder_lift_joint" type="revolute">
+    <parent link="L_arm_shoulder_link"/>
+    <child link="L_arm_upper_arm_link"/>
+    <origin rpy="-1.570796327 0 3.14" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_elbow_joint" type="revolute">
+    <parent link="L_arm_upper_arm_link"/>
+    <child link="L_arm_forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_1_joint" type="revolute">
+    <parent link="L_arm_forearm_link"/>
+    <child link="L_arm_wrist_1_link"/>
+    <origin rpy="0 0 3.14" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_2_joint" type="revolute">
+    <parent link="L_arm_wrist_1_link"/>
+    <child link="L_arm_wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="L_arm_wrist_3_joint" type="revolute">
+    <parent link="L_arm_wrist_2_link"/>
+    <child link="L_arm_wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - L_arm_base_link to UR 'Base' Coordinates transform -->
+  <link name="L_arm_base"/>
+  <joint name="L_arm_base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as L_arm_base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="L_arm_base_link"/>
+    <child link="L_arm_base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="L_arm_flange"/>
+  <joint name="L_arm_wrist_3-flange" type="fixed">
+    <parent link="L_arm_wrist_3_link"/>
+    <child link="L_arm_flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="L_arm_tool0"/>
+  <joint name="L_arm_flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="L_arm_flange"/>
+    <child link="L_arm_tool0"/>
+  </joint>
+  
+    <joint name="wrist3_to_l_base" type="fixed">
+      <origin xyz="0 0 0.0004" rpy="0 0 1.57"/>
+      <parent link="L_arm_wrist_3_link"/>
+      <child link="l_arm_flange"/>
+    </joint>
+  <link
+    name="l_arm_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955455001528E-10 1.16584006337739E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425512" />
+      <inertia
+        ixx="5.79403393826274E-06"
+        ixy="-2.14169586327831E-14"
+        ixz="5.36313422038085E-14"
+        iyy="5.79403739954587E-06"
+        iyz="-1.74818936645495E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/ur5/flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/ur5/flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+    <joint name="l_arm_flange_to_left_hand_base_link" type="fixed">
+      <origin xyz="0 0 0.0425" rpy="0 0 -1.57"/>
+      <parent link="l_arm_flange"/>
+      <child link="left_hand_base_link"/>
+    </joint>    
+  <link name="left_hand_base_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.032"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/base10.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.009"/>
+      <geometry>
+        <cylinder radius="0.045" length="0.045"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="left_hand_e1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.01313 0"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h10_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01313 0.013"/>
+      <geometry>
+        <box size="0.05 0.05 0.026"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.00573 0.0035 0.05747"/>
+      <geometry>
+        <box size="0.0584 0.038 0.0641"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.01 0.0035 0.096"/>
+      <geometry>
+        <box size="0.042 0.038 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="left_hand_e2">
+    <visual>
+      <origin xyz="0.0007 0 -0.01002"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.016 0 0.02"/>
+      <geometry>
+        <box size="0.0246 0.035 0.0564"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0032 -0.0083 0.048"/>
+      <geometry>
+        <box size="0.012 0.018 0.021"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- THUMB LINKS -->
+  <link name="left_hand_z">
+    <visual>
+      <origin xyz="0 0 0.02442"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d10_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.02842"/>
+      <geometry>
+        <box size="0.024 0.0188 0.008"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_a">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_b">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d12_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d12_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_c">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d13_left.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d13_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- INDEX FINGER LINKS -->
+  <link name="left_hand_virtual_l">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00121"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_l">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f11.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_p">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.000 0.000"/>
+      <mass value="0.024"/>
+      <inertia ixx="9e-7" ixy="0.0" ixz="0.0" iyy="3e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f12.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f12.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_t">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- MIDDLE FINGER LINKS -->
+  <link name="left_hand_virtual_k">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_k">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f21.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f21.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_o">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_s">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- RING FINGER LINKS -->
+  <link name="left_hand_virtual_j">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_j">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f31.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f31.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_n">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_r">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LITTLE FINGER LINKS -->
+  <link name="left_hand_virtual_i">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_i">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f41.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f41.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_m">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="8e-7" ixy="0.0" ixz="0.0" iyy="2e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f42.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f42.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_q">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_Thumb_Flexion" type="revolute">
+    <parent link="left_hand_z"/>
+    <child link="left_hand_a"/>
+    <limit effort="1000.0" lower="-0.9704" upper="0.0"  velocity="1"/>
+    <origin rpy="-1.57079 -0.6004 -1.57079" xyz="0 0 0.04596"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- BASE_LINE JOINTS -->
+  <joint name="left_hand_Thumb_Opposition" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_z"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9879" velocity="1"/>
+    <origin rpy="0 0.2618 1.571" xyz="0.0169 0.02626 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_f4" type="fixed">
+    <parent link="left_hand_base_link"/>
+    <child link="left_hand_e1"/>
+    <origin rpy="0 0 0" xyz="0 -0.01313 0"/>
+  </joint>
+  <joint name="left_hand_j5" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_e2"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.98786" velocity="1"/>
+    <origin rpy="0 0 0" xyz="-0.0184 0.006 0.0375"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Opposition" multiplier="1" offset="0"/>
+  </joint>
+  <!-- THUMB JOINTS -->
+  <joint name="left_hand_j3" type="revolute">
+    <parent link="left_hand_a"/>
+    <child link="left_hand_b"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.98506" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0485 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Flexion" multiplier="1.01511" offset="0"/>
+  </joint>
+  <joint name="left_hand_j4" type="revolute">
+    <parent link="left_hand_b"/>
+    <child link="left_hand_c"/>
+    <limit effort="1000.0" lower="-1.406" upper="0" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.030 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Flexion" multiplier="1.44889" offset="0"/>
+  </joint>
+  <!-- INDEX FINGER JOINTS -->
+  <joint name="left_hand_Index_Finger_Distal" type="revolute">
+    <parent link="left_hand_l"/>
+    <child link="left_hand_p"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04804 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_Index_Finger_Proximal" type="revolute">
+    <parent link="left_hand_virtual_l"/>
+    <child link="left_hand_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- JOINT Finger_Spread in BASE_LINE section for better UX -->
+  <joint name="left_hand_j14" type="revolute">
+    <parent link="left_hand_p"/>
+    <child link="left_hand_t"/>
+    <limit effort="1000.0" lower="0" upper="1.394" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.026 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Index_Finger_Distal" multiplier="1.0450" offset="0"/>
+  </joint>
+  <!-- MIDDLE FINGER JOINTS -->
+  <joint name="left_hand_Middle_Finger_Proximal" type="revolute">
+    <parent link="left_hand_virtual_k"/>
+    <child link="left_hand_k"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_Middle_Finger_Distal" type="revolute">
+    <parent link="left_hand_k"/>
+    <child link="left_hand_o"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j15" type="revolute">
+    <parent link="left_hand_o"/>
+    <child link="left_hand_s"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Middle_Finger_Distal" multiplier="1.0454" offset="0"/>
+  </joint>
+  <!-- RING FINGER JOINTS -->
+  <joint name="left_hand_Ring_Finger" type="revolute">
+    <parent link="left_hand_virtual_j"/>
+    <child link="left_hand_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j12" type="revolute">
+    <parent link="left_hand_j"/>
+    <child link="left_hand_n"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Ring_Finger" multiplier="1.3588" offset="0"/>
+  </joint>
+  <joint name="left_hand_j16" type="revolute">
+    <parent link="left_hand_n"/>
+    <child link="left_hand_r"/>
+    <limit effort="1000.0" lower="0" upper="1.395" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Ring_Finger" multiplier="1.42093" offset="0"/>
+  </joint>
+  <!-- PINKY JOINTS -->
+  <joint name="left_hand_Pinky" type="revolute">
+    <parent link="left_hand_virtual_i"/>
+    <child link="left_hand_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j13" type="revolute">
+    <parent link="left_hand_i"/>
+    <child link="left_hand_m"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04454 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Pinky" multiplier="1.35880" offset="0"/>
+  </joint>
+  <joint name="left_hand_j17" type="revolute">
+    <parent link="left_hand_m"/>
+    <child link="left_hand_q"/>
+    <limit effort="1000.0" lower="0" upper="1.3971" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.022 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Pinky" multiplier="1.42307" offset="0"/>
+  </joint>
+  <joint name="left_hand_index_spread" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_virtual_l"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.28833" velocity="1"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0.025 0 0.110"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="left_hand_middle_spread_dummy" type="fixed">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_virtual_k"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0 0 0.110"/>
+  </joint>
+  <joint name="left_hand_ring_spread" type="revolute">
+    <parent link="left_hand_e2"/>
+    <child link="left_hand_virtual_j"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.28833" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="-0.003855 -0.006 0.0655"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="left_hand_Finger_Spread" type="revolute">
+    <parent link="left_hand_e2"/>
+    <child link="left_hand_virtual_i"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.5829" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="-0.025355 -0.006 0.056"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="thtip"/>
+  <link name="fftip"/>
+  <link name="mftip"/>
+  <link name="rftip"/>
+  <link name="lftip"/>
+  <joint name="thtip_joint" type="fixed">
+    <parent link="left_hand_c"/>
+    <child link="thtip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.0275 0.000 0.000"/>
+  </joint>
+  <joint name="fftip_joint" type="fixed">
+    <parent link="left_hand_t"/>
+    <child link="fftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="mftip_joint" type="fixed">
+    <parent link="left_hand_s"/>
+    <child link="mftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="rftip_joint" type="fixed">
+    <parent link="left_hand_r"/>
+    <child link="rftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="lftip_joint" type="fixed">
+    <parent link="left_hand_q"/>
+    <child link="lftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+</robot>    
+
diff --git a/Robots_p/ur5+schunk_hand/urdf/Right_Hand.urdf b/Robots_p/ur5+schunk_hand/urdf/Right_Hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..67b01af3b6f67b6fa2cfeb1806a79b0e2f9e6624
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/urdf/Right_Hand.urdf
@@ -0,0 +1,574 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="svh">
+  <link name="base_link"/>
+  <joint name="root_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="right_hand_base_link"/>
+    <origin rpy="0 0 -1.57079" xyz="0 0 0"/>
+  </joint>
+  <link name="right_hand_base_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.032"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/base10.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.009"/>
+      <geometry>
+        <cylinder radius="0.045" length="0.045"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="right_hand_e1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.01313 0"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h10.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01313 0.013"/>
+      <geometry>
+        <box size="0.05 0.05 0.026"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.00573 0.0035 0.05747"/>
+      <geometry>
+        <box size="0.0584 0.038 0.0641"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.01 0.0035 0.096"/>
+      <geometry>
+        <box size="0.042 0.038 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="right_hand_e2">
+    <visual>
+      <origin xyz="-0.0007 0 -0.01002"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h11.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016 0 0.02"/>
+      <geometry>
+        <box size="0.0246 0.035 0.0564"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0032 -0.0083 0.048"/>
+      <geometry>
+        <box size="0.012 0.018 0.021"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- THUMB LINKS -->
+  <link name="right_hand_z">
+    <visual>
+      <origin xyz="0 0 0.02442"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d10.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.02842"/>
+      <geometry>
+        <box size="0.024 0.0188 0.008"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_a">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d11.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_b">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d12.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d12.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_c">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d13.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d13.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- INDEX FINGER LINKS -->
+  <link name="right_hand_virtual_l">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00121"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_l">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f11.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_p">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.000 0.000"/>
+      <mass value="0.024"/>
+      <inertia ixx="9e-7" ixy="0.0" ixz="0.0" iyy="3e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f12.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f12.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_t">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- MIDDLE FINGER LINKS -->
+  <link name="right_hand_virtual_k">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_k">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f21.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f21.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_o">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_s">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- RING FINGER LINKS -->
+  <link name="right_hand_virtual_j">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_j">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f31.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f31.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_n">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_r">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LITTLE FINGER LINKS -->
+  <link name="right_hand_virtual_i">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_i">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f41.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f41.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_m">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="8e-7" ixy="0.0" ixz="0.0" iyy="2e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f42.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f42.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_q">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_Thumb_Flexion" type="revolute">
+    <parent link="right_hand_z"/>
+    <child link="right_hand_a"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9704" velocity="1"/>
+    <origin rpy="1.57079 -0.6004 1.57079" xyz="0 0 0.04596"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- BASE_LINE JOINTS -->
+  <joint name="right_hand_Thumb_Opposition" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_z"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9879" velocity="1"/>
+    <origin rpy="0 0.2618 1.571" xyz="-0.0169 0.02626 0"/>
+    <axis xyz="0 0 -1"/>
+  </joint>
+  <joint name="right_hand_f4" type="fixed">
+    <parent link="right_hand_base_link"/>
+    <child link="right_hand_e1"/>
+    <origin rpy="0 0 0" xyz="0 -0.01313 0"/>
+  </joint>
+  <joint name="right_hand_j5" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_e2"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98786" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0184 0.006 0.0375"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Opposition" multiplier="1" offset="0"/>
+  </joint>
+  <!-- THUMB JOINTS -->
+  <joint name="right_hand_j3" type="revolute">
+    <parent link="right_hand_a"/>
+    <child link="right_hand_b"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98506" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0485 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Flexion" multiplier="1.01511" offset="0"/>
+  </joint>
+  <joint name="right_hand_j4" type="revolute">
+    <parent link="right_hand_b"/>
+    <child link="right_hand_c"/>
+    <limit effort="1000.0" lower="0.0" upper="1.406" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.030 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Flexion" multiplier="1.44889" offset="0"/>
+  </joint>
+  <!-- INDEX FINGER JOINTS -->
+  <joint name="right_hand_Index_Finger_Distal" type="revolute">
+    <parent link="right_hand_l"/>
+    <child link="right_hand_p"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04804 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_Index_Finger_Proximal" type="revolute">
+    <parent link="right_hand_virtual_l"/>
+    <child link="right_hand_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- JOINT Finger_Spread in BASE_LINE section for better UX -->
+  <joint name="right_hand_j14" type="revolute">
+    <parent link="right_hand_p"/>
+    <child link="right_hand_t"/>
+    <limit effort="1000.0" lower="0" upper="1.394" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.026 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Index_Finger_Distal" multiplier="1.0450" offset="0"/>
+  </joint>
+  <!-- MIDDLE FINGER JOINTS -->
+  <joint name="right_hand_Middle_Finger_Proximal" type="revolute">
+    <parent link="right_hand_virtual_k"/>
+    <child link="right_hand_k"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_Middle_Finger_Distal" type="revolute">
+    <parent link="right_hand_k"/>
+    <child link="right_hand_o"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j15" type="revolute">
+    <parent link="right_hand_o"/>
+    <child link="right_hand_s"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Middle_Finger_Distal" multiplier="1.0454" offset="0"/>
+  </joint>
+  <!-- RING FINGER JOINTS -->
+  <joint name="right_hand_Ring_Finger" type="revolute">
+    <parent link="right_hand_virtual_j"/>
+    <child link="right_hand_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j12" type="revolute">
+    <parent link="right_hand_j"/>
+    <child link="right_hand_n"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Ring_Finger" multiplier="1.3588" offset="0"/>
+  </joint>
+  <joint name="right_hand_j16" type="revolute">
+    <parent link="right_hand_n"/>
+    <child link="right_hand_r"/>
+    <limit effort="1000.0" lower="0" upper="1.395" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Ring_Finger" multiplier="1.42093" offset="0"/>
+  </joint>
+  <!-- PINKY JOINTS -->
+  <joint name="right_hand_Pinky" type="revolute">
+    <parent link="right_hand_virtual_i"/>
+    <child link="right_hand_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j13" type="revolute">
+    <parent link="right_hand_i"/>
+    <child link="right_hand_m"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04454 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Pinky" multiplier="1.35880" offset="0"/>
+  </joint>
+  <joint name="right_hand_j17" type="revolute">
+    <parent link="right_hand_m"/>
+    <child link="right_hand_q"/>
+    <limit effort="1000.0" lower="0" upper="1.3971" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.022 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Pinky" multiplier="1.42307" offset="0"/>
+  </joint>
+  <joint name="right_hand_index_spread" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_virtual_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.28833" velocity="1"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="-0.025 0 0.110"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="right_hand_middle_spread_dummy" type="fixed">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_virtual_k"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0 0 0.110"/>
+  </joint>
+  <joint name="right_hand_ring_spread" type="revolute">
+    <parent link="right_hand_e2"/>
+    <child link="right_hand_virtual_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.28833" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="0.003855 -0.006 0.0655"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="right_hand_Finger_Spread" type="revolute">
+    <parent link="right_hand_e2"/>
+    <child link="right_hand_virtual_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.5829" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="0.025355 -0.006 0.056"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="thtip"/>
+  <link name="fftip"/>
+  <link name="mftip"/>
+  <link name="rftip"/>
+  <link name="lftip"/>
+  <joint name="thtip_joint" type="fixed">
+    <parent link="right_hand_c"/>
+    <child link="thtip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.0275 0.000 0.000"/>
+  </joint>
+  <joint name="fftip_joint" type="fixed">
+    <parent link="right_hand_t"/>
+    <child link="fftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="mftip_joint" type="fixed">
+    <parent link="right_hand_s"/>
+    <child link="mftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="rftip_joint" type="fixed">
+    <parent link="right_hand_r"/>
+    <child link="rftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="lftip_joint" type="fixed">
+    <parent link="right_hand_q"/>
+    <child link="lftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+</robot>
+
diff --git a/Robots_p/ur5+schunk_hand/urdf/Right_UR5_schunk_hand_with_flange.urdf b/Robots_p/ur5+schunk_hand/urdf/Right_UR5_schunk_hand_with_flange.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7b64318619949b58995e37dd29806552fe658df4
--- /dev/null
+++ b/Robots_p/ur5+schunk_hand/urdf/Right_UR5_schunk_hand_with_flange.urdf
@@ -0,0 +1,1156 @@
+<?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="ur5">
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note that .xacro must still be processed by the xacro command).
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE the default kinematic parameters (i.e., link lengths, frame locations,
+    offsets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (i.e., robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targeted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs Ludovic Delval.
+
+    Contributors to previous versions (in no particular order)
+
+     - Denis Stogl
+     - Lovro Ivanov
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+
+  <ros2_control name="URPositionHardwareInterface" type="system">
+    <hardware>
+      <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
+      <param name="robot_ip">10.0.1.186</param>
+      <param name="script_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/ros_control.urscript</param>
+      <param name="output_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
+      <param name="input_recipe_filename">/ros2_workspace/install/ur_robot_driver/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
+      <param name="headless_mode">0</param>
+      <param name="reverse_port">50001</param>
+      <param name="script_sender_port">50002</param>
+      <param name="tf_prefix">&quot;&quot;</param>
+      <param name="non_blocking_read">0</param>
+      <param name="servoj_gain">2000</param>
+      <param name="servoj_lookahead_time">0.03</param>
+      <param name="use_tool_communication">0</param>
+      <param name="kinematics/hash">calib_209549117540498681</param>
+      <param name="tool_voltage">0</param>
+      <param name="tool_parity">0</param>
+      <param name="tool_baud_rate">115200</param>
+      <param name="tool_stop_bits">1</param>
+      <param name="tool_rx_idle_chars">1.5</param>
+      <param name="tool_tx_idle_chars">3.5</param>
+      <param name="tool_device_name">/tmp/ttyUR</param>
+      <param name="tool_tcp_port">54321</param>
+    </hardware>
+    <joint name="shoulder_pan_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="shoulder_lift_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="elbow_joint">
+      <command_interface name="position">
+        <param name="min">-3.141592653589793</param>
+        <param name="max">3.141592653589793</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.15</param>
+        <param name="max">3.15</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_1_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">-1.57</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_2_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <joint name="wrist_3_joint">
+      <command_interface name="position">
+        <param name="min">-6.283185307179586</param>
+        <param name="max">6.283185307179586</param>
+      </command_interface>
+      <command_interface name="velocity">
+        <param name="min">-3.2</param>
+        <param name="max">3.2</param>
+      </command_interface>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+      <param name="initial_position">0.0</param>
+      <!-- initial position for the FakeSystem -->
+    </joint>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+    <!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
+    <joint name="speed_scaling">
+      <state_interface name="speed_scaling_factor"/>
+      <param name="initial_speed_scaling_factor">1</param>
+      <command_interface name="target_speed_fraction_cmd"/>
+      <command_interface name="target_speed_fraction_async_success"/>
+    </joint>
+    <joint name="gpio">
+      <command_interface name="standard_digital_output_cmd_0"/>
+      <command_interface name="standard_digital_output_cmd_1"/>
+      <command_interface name="standard_digital_output_cmd_2"/>
+      <command_interface name="standard_digital_output_cmd_3"/>
+      <command_interface name="standard_digital_output_cmd_4"/>
+      <command_interface name="standard_digital_output_cmd_5"/>
+      <command_interface name="standard_digital_output_cmd_6"/>
+      <command_interface name="standard_digital_output_cmd_7"/>
+      <command_interface name="standard_digital_output_cmd_8"/>
+      <command_interface name="standard_digital_output_cmd_9"/>
+      <command_interface name="standard_digital_output_cmd_10"/>
+      <command_interface name="standard_digital_output_cmd_11"/>
+      <command_interface name="standard_digital_output_cmd_12"/>
+      <command_interface name="standard_digital_output_cmd_13"/>
+      <command_interface name="standard_digital_output_cmd_14"/>
+      <command_interface name="standard_digital_output_cmd_15"/>
+      <command_interface name="standard_digital_output_cmd_16"/>
+      <command_interface name="standard_digital_output_cmd_17"/>
+      <command_interface name="standard_analog_output_cmd_0"/>
+      <command_interface name="standard_analog_output_cmd_1"/>
+      <command_interface name="io_async_success"/>
+      <state_interface name="digital_output_0"/>
+      <state_interface name="digital_output_1"/>
+      <state_interface name="digital_output_2"/>
+      <state_interface name="digital_output_3"/>
+      <state_interface name="digital_output_4"/>
+      <state_interface name="digital_output_5"/>
+      <state_interface name="digital_output_6"/>
+      <state_interface name="digital_output_7"/>
+      <state_interface name="digital_output_8"/>
+      <state_interface name="digital_output_9"/>
+      <state_interface name="digital_output_10"/>
+      <state_interface name="digital_output_11"/>
+      <state_interface name="digital_output_12"/>
+      <state_interface name="digital_output_13"/>
+      <state_interface name="digital_output_14"/>
+      <state_interface name="digital_output_15"/>
+      <state_interface name="digital_output_16"/>
+      <state_interface name="digital_output_17"/>
+      <state_interface name="digital_input_0"/>
+      <state_interface name="digital_input_1"/>
+      <state_interface name="digital_input_2"/>
+      <state_interface name="digital_input_3"/>
+      <state_interface name="digital_input_4"/>
+      <state_interface name="digital_input_5"/>
+      <state_interface name="digital_input_6"/>
+      <state_interface name="digital_input_7"/>
+      <state_interface name="digital_input_8"/>
+      <state_interface name="digital_input_9"/>
+      <state_interface name="digital_input_10"/>
+      <state_interface name="digital_input_11"/>
+      <state_interface name="digital_input_12"/>
+      <state_interface name="digital_input_13"/>
+      <state_interface name="digital_input_14"/>
+      <state_interface name="digital_input_15"/>
+      <state_interface name="digital_input_16"/>
+      <state_interface name="digital_input_17"/>
+      <state_interface name="standard_analog_output_0"/>
+      <state_interface name="standard_analog_output_1"/>
+      <state_interface name="standard_analog_input_0"/>
+      <state_interface name="standard_analog_input_1"/>
+      <state_interface name="analog_io_type_0"/>
+      <state_interface name="analog_io_type_1"/>
+      <state_interface name="analog_io_type_2"/>
+      <state_interface name="analog_io_type_3"/>
+      <state_interface name="tool_mode"/>
+      <state_interface name="tool_output_voltage"/>
+      <state_interface name="tool_output_current"/>
+      <state_interface name="tool_temperature"/>
+      <state_interface name="tool_analog_input_0"/>
+      <state_interface name="tool_analog_input_1"/>
+      <state_interface name="tool_analog_input_type_0"/>
+      <state_interface name="tool_analog_input_type_1"/>
+      <state_interface name="robot_mode"/>
+      <state_interface name="robot_status_bit_0"/>
+      <state_interface name="robot_status_bit_1"/>
+      <state_interface name="robot_status_bit_2"/>
+      <state_interface name="robot_status_bit_3"/>
+      <state_interface name="safety_mode"/>
+      <state_interface name="safety_status_bit_0"/>
+      <state_interface name="safety_status_bit_1"/>
+      <state_interface name="safety_status_bit_2"/>
+      <state_interface name="safety_status_bit_3"/>
+      <state_interface name="safety_status_bit_4"/>
+      <state_interface name="safety_status_bit_5"/>
+      <state_interface name="safety_status_bit_6"/>
+      <state_interface name="safety_status_bit_7"/>
+      <state_interface name="safety_status_bit_8"/>
+      <state_interface name="safety_status_bit_9"/>
+      <state_interface name="safety_status_bit_10"/>
+      <state_interface name="program_running"/>
+    </joint>
+    <gpio name="system_interface">
+      <state_interface name="initialized"/>
+    </gpio>
+  </ros2_control>
+  <!-- Add URDF transmission elements (for ros_control) -->
+  <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+  <!-- Placeholder for ros2_control transmission which don't yet exist -->
+  <!-- links -  main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.014972352344389999" ixy="0.0" ixz="0.0" iyy="0.014972352344389999" iyz="0.0" izz="0.01040625"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.136"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.196125 0.0 0.0165"/>
+      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0020138887777775" ixy="0.0" ixz="0.0" iyy="0.0020138887777775" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.095"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0018310388509175" ixy="0.0" ixz="0.0" iyy="0.0018310388509175" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
+      <geometry>
+        <mesh filename="../meshes/ur5/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01525"/>
+      <inertia ixx="8.062472608343e-05" ixy="0.0" ixz="0.0" iyy="8.062472608343e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints - main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.089159"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.570796326589793 0 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
+    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians - as base_link is REP-103
+           aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe - X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+
+    <joint name="wrist3_to_r_arm_flange" type="fixed">
+      <origin xyz="0 0 0.0004" rpy="0 0 -1.57"/>
+      <parent link="wrist_3_link"/>
+      <child link="r_arm_flange"/>
+    </joint>
+  <link
+    name="r_arm_flange">
+    <inertial>
+      <origin
+        xyz="-3.00955455001528E-10 1.16584006337739E-10 0.00644773638600599"
+        rpy="0 0 0" />
+      <mass
+        value="0.0208438670425512" />
+      <inertia
+        ixx="5.79403393826274E-06"
+        ixy="-2.14169586327831E-14"
+        ixz="5.36313422038085E-14"
+        iyy="5.79403739954587E-06"
+        iyz="-1.74818936645495E-14"
+        izz="1.08125333185928E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/ur5/flange.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.894117647058823 0.913725490196078 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/ur5/flange.STL" />
+      </geometry>
+    </collision>
+  </link>
+    <joint name="r_arm_flange_to_right_hand_base_link" type="fixed">
+      <origin xyz="0 0 0.0425" rpy="0 0 1.57"/>
+      <parent link="r_arm_flange"/>
+      <child link="right_hand_base_link"/>
+    </joint>
+  <link name="right_hand_base_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.032"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/base10.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.009"/>
+      <geometry>
+        <cylinder radius="0.045" length="0.045"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="right_hand_e1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.01313 0"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h10.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01313 0.013"/>
+      <geometry>
+        <box size="0.05 0.05 0.026"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.00573 0.0035 0.05747"/>
+      <geometry>
+        <box size="0.0584 0.038 0.0641"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.01 0.0035 0.096"/>
+      <geometry>
+        <box size="0.042 0.038 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LENGTH NOT FOUND IN DATASHEET! GUESSED!!! -->
+  <link name="right_hand_e2">
+    <visual>
+      <origin xyz="-0.0007 0 -0.01002"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/h11.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016 0 0.02"/>
+      <geometry>
+        <box size="0.0246 0.035 0.0564"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0032 -0.0083 0.048"/>
+      <geometry>
+        <box size="0.012 0.018 0.021"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- THUMB LINKS -->
+  <link name="right_hand_z">
+    <visual>
+      <origin xyz="0 0 0.02442"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d10.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.02842"/>
+      <geometry>
+        <box size="0.024 0.0188 0.008"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_a">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d11.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_b">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d12.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d12.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_c">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/d13.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/d13.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- INDEX FINGER LINKS -->
+  <link name="right_hand_virtual_l">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00121"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_l">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f11.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_p">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.000 0.000"/>
+      <mass value="0.024"/>
+      <inertia ixx="9e-7" ixy="0.0" ixz="0.0" iyy="3e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f12.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f12.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_t">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- MIDDLE FINGER LINKS -->
+  <link name="right_hand_virtual_k">
+    <visual>
+      <origin xyz="0 0 0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f10_f20.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_k">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f21.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f21.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_o">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_s">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- RING FINGER LINKS -->
+  <link name="right_hand_virtual_j">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_j">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f31.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f31.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_n">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f22_f32.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_r">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- LITTLE FINGER LINKS -->
+  <link name="right_hand_virtual_i">
+    <visual>
+      <origin xyz="0 0 -0.01321"/>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f30_f40.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_i">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f41.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f41.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_m">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="8e-7" ixy="0.0" ixz="0.0" iyy="2e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/f42.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/f42.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_q">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/hand/visual/finger_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/hand/collision/finger_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_Thumb_Flexion" type="revolute">
+    <parent link="right_hand_z"/>
+    <child link="right_hand_a"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9704" velocity="1"/>
+    <origin rpy="1.57079 -0.6004 1.57079" xyz="0 0 0.04596"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- BASE_LINE JOINTS -->
+  <joint name="right_hand_Thumb_Opposition" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_z"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9879" velocity="1"/>
+    <origin rpy="0 0.2618 1.571" xyz="-0.0169 0.02626 0"/>
+    <axis xyz="0 0 -1"/>
+  </joint>
+  <joint name="right_hand_f4" type="fixed">
+    <parent link="right_hand_base_link"/>
+    <child link="right_hand_e1"/>
+    <origin rpy="0 0 0" xyz="0 -0.01313 0"/>
+  </joint>
+  <joint name="right_hand_j5" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_e2"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98786" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0184 0.006 0.0375"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Opposition" multiplier="1" offset="0"/>
+  </joint>
+  <!-- THUMB JOINTS -->
+  <joint name="right_hand_j3" type="revolute">
+    <parent link="right_hand_a"/>
+    <child link="right_hand_b"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98506" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0485 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Flexion" multiplier="1.01511" offset="0"/>
+  </joint>
+  <joint name="right_hand_j4" type="revolute">
+    <parent link="right_hand_b"/>
+    <child link="right_hand_c"/>
+    <limit effort="1000.0" lower="0.0" upper="1.406" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.030 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Flexion" multiplier="1.44889" offset="0"/>
+  </joint>
+  <!-- INDEX FINGER JOINTS -->
+  <joint name="right_hand_Index_Finger_Distal" type="revolute">
+    <parent link="right_hand_l"/>
+    <child link="right_hand_p"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04804 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_Index_Finger_Proximal" type="revolute">
+    <parent link="right_hand_virtual_l"/>
+    <child link="right_hand_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- JOINT Finger_Spread in BASE_LINE section for better UX -->
+  <joint name="right_hand_j14" type="revolute">
+    <parent link="right_hand_p"/>
+    <child link="right_hand_t"/>
+    <limit effort="1000.0" lower="0" upper="1.394" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.026 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Index_Finger_Distal" multiplier="1.0450" offset="0"/>
+  </joint>
+  <!-- MIDDLE FINGER JOINTS -->
+  <joint name="right_hand_Middle_Finger_Proximal" type="revolute">
+    <parent link="right_hand_virtual_k"/>
+    <child link="right_hand_k"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_Middle_Finger_Distal" type="revolute">
+    <parent link="right_hand_k"/>
+    <child link="right_hand_o"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j15" type="revolute">
+    <parent link="right_hand_o"/>
+    <child link="right_hand_s"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Middle_Finger_Distal" multiplier="1.0454" offset="0"/>
+  </joint>
+  <!-- RING FINGER JOINTS -->
+  <joint name="right_hand_Ring_Finger" type="revolute">
+    <parent link="right_hand_virtual_j"/>
+    <child link="right_hand_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j12" type="revolute">
+    <parent link="right_hand_j"/>
+    <child link="right_hand_n"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Ring_Finger" multiplier="1.3588" offset="0"/>
+  </joint>
+  <joint name="right_hand_j16" type="revolute">
+    <parent link="right_hand_n"/>
+    <child link="right_hand_r"/>
+    <limit effort="1000.0" lower="0" upper="1.395" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Ring_Finger" multiplier="1.42093" offset="0"/>
+  </joint>
+  <!-- PINKY JOINTS -->
+  <joint name="right_hand_Pinky" type="revolute">
+    <parent link="right_hand_virtual_i"/>
+    <child link="right_hand_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j13" type="revolute">
+    <parent link="right_hand_i"/>
+    <child link="right_hand_m"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04454 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Pinky" multiplier="1.35880" offset="0"/>
+  </joint>
+  <joint name="right_hand_j17" type="revolute">
+    <parent link="right_hand_m"/>
+    <child link="right_hand_q"/>
+    <limit effort="1000.0" lower="0" upper="1.3971" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.022 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Pinky" multiplier="1.42307" offset="0"/>
+  </joint>
+  <joint name="right_hand_index_spread" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_virtual_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.28833" velocity="1"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="-0.025 0 0.110"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="right_hand_middle_spread_dummy" type="fixed">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_virtual_k"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0 0 0.110"/>
+  </joint>
+  <joint name="right_hand_ring_spread" type="revolute">
+    <parent link="right_hand_e2"/>
+    <child link="right_hand_virtual_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.28833" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="0.003855 -0.006 0.0655"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="right_hand_Finger_Spread" type="revolute">
+    <parent link="right_hand_e2"/>
+    <child link="right_hand_virtual_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.5829" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="0.025355 -0.006 0.056"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="thtip"/>
+  <link name="fftip"/>
+  <link name="mftip"/>
+  <link name="rftip"/>
+  <link name="lftip"/>
+  <joint name="thtip_joint" type="fixed">
+    <parent link="right_hand_c"/>
+    <child link="thtip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.0275 0.000 0.000"/>
+  </joint>
+  <joint name="fftip_joint" type="fixed">
+    <parent link="right_hand_t"/>
+    <child link="fftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="mftip_joint" type="fixed">
+    <parent link="right_hand_s"/>
+    <child link="mftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="rftip_joint" type="fixed">
+    <parent link="right_hand_r"/>
+    <child link="rftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="lftip_joint" type="fixed">
+    <parent link="right_hand_q"/>
+    <child link="lftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+</robot>    
+
diff --git a/Robots_p/xarm+ability/tactile_sensor/tactile_idx_F2.mtl b/Robots_p/xarm+ability/tactile_sensor/tactile_idx_F2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b4403c5c79efe8dd52800312b27134dd2c2ff7f
--- /dev/null
+++ b/Robots_p/xarm+ability/tactile_sensor/tactile_idx_F2.mtl
@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
diff --git a/Robots_p/xarm+ability/tactile_sensor/tactile_idx_F2.obj b/Robots_p/xarm+ability/tactile_sensor/tactile_idx_F2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2089a3f873da518aee26d846757e7c6f31591234
--- /dev/null
+++ b/Robots_p/xarm+ability/tactile_sensor/tactile_idx_F2.obj
@@ -0,0 +1,360 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_idx_F2.mtl
+o idx_F2
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+v 0.027136 0.024524 -0.001273
+vn 0.5682 0.8149 -0.1143
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+s 0
+usemtl 
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diff --git a/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_right.obj b/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_right.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f788983fc40489a850dba53bd540d3e275d1dfaf
--- /dev/null
+++ b/Robots_p/xarm+ability/tactile_sensor/tactile_thumb_F2_right.obj
@@ -0,0 +1,294 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib tactile_thumb_F2_right.mtl
+o thumb_F2_right
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diff --git a/Robots_p/xarm+leap/meshes/visual/dip.mtl b/Robots_p/xarm+leap/meshes/visual/dip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..667bb086aea4f67992554b43925f0947daeb8327
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/dip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/Robots_p/xarm+leap/meshes/visual/link1.mtl b/Robots_p/xarm+leap/meshes/visual/link1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23ca53d342152ead68ba1c00e84c577a0a60c739
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link1.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.006
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White.005
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/Robots_p/xarm+leap/meshes/visual/link2.mtl b/Robots_p/xarm+leap/meshes/visual/link2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..646d6e17d76c97d4ea76420b11000f6d794262cd
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link2.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.004
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White.003
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/Robots_p/xarm+leap/meshes/visual/link3.mtl b/Robots_p/xarm+leap/meshes/visual/link3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64171bd53d806b39db71e8dc3d92bd7aa4dc48a0
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link3.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.005
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White.004
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/Robots_p/xarm+leap/meshes/visual/link3.obj b/Robots_p/xarm+leap/meshes/visual/link3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6b6e2b13d42b5092e85d54e248123f7566130e
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link3.obj
@@ -0,0 +1,24410 @@
+# Blender 4.1.0
+# www.blender.org
+mtllib link3.mtl
+o link3
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diff --git a/Robots_p/xarm+leap/meshes/visual/link4.mtl b/Robots_p/xarm+leap/meshes/visual/link4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76800084990d8bd05530532f80668a8da1295e52
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link4.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.003
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White.002
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/Robots_p/xarm+leap/meshes/visual/link4.obj b/Robots_p/xarm+leap/meshes/visual/link4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f052903813d855efe39cf639e270ac4a945bf008
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link4.obj
@@ -0,0 +1,24808 @@
+# Blender 4.1.0
+# www.blender.org
+mtllib link4.mtl
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diff --git a/Robots_p/xarm+leap/meshes/visual/link5.mtl b/Robots_p/xarm+leap/meshes/visual/link5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92b557b589deeb55b7b1462b686bd3ab8cfffcbf
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link5.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.002
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+
+newmtl White.001
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+Ks 0.500000 0.500000 0.500000
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diff --git a/Robots_p/xarm+leap/meshes/visual/link5.obj b/Robots_p/xarm+leap/meshes/visual/link5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a97c6f8f9476c9bcd59f0dc76548422fab49de2f
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link5.obj
@@ -0,0 +1,23513 @@
+# Blender 4.1.0
+# www.blender.org
+mtllib link5.mtl
+o link5
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diff --git a/Robots_p/xarm+leap/meshes/visual/link6.mtl b/Robots_p/xarm+leap/meshes/visual/link6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b18051d6541b71e1af29fe9b32f7d87e53d59cfc
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link6.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.001
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diff --git a/Robots_p/xarm+leap/meshes/visual/link6.obj b/Robots_p/xarm+leap/meshes/visual/link6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be61733d1713136aecc2e6a0ed102be79861eff2
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link6.obj
@@ -0,0 +1,40716 @@
+# Blender 4.1.0
+# www.blender.org
+mtllib link6.mtl
+o link6
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diff --git a/Robots_p/xarm+leap/meshes/visual/link7.obj b/Robots_p/xarm+leap/meshes/visual/link7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..428cf54c65e33e0de69971abf2abcbaf6a17d3c3
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link7.obj
@@ -0,0 +1,19831 @@
+# Blender 4.1.0
+# www.blender.org
+mtllib link7.mtl
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diff --git a/Robots_p/xarm+leap/meshes/visual/link_base.mtl b/Robots_p/xarm+leap/meshes/visual/link_base.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0383fa61acea6466de1a68a28b3607a4eed72f40
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/link_base.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl silver.003
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
+
+newmtl white.003
+Ns 810.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/Robots_p/xarm+leap/meshes/visual/mcp_joint.mtl b/Robots_p/xarm+leap/meshes/visual/mcp_joint.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..667bb086aea4f67992554b43925f0947daeb8327
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/mcp_joint.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/Robots_p/xarm+leap/meshes/visual/mcp_joint.obj b/Robots_p/xarm+leap/meshes/visual/mcp_joint.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09b7fb891846897c8ce9acf42c0218cee1212baa
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/mcp_joint.obj
@@ -0,0 +1,48163 @@
+# Blender 4.0.0
+# www.blender.org
+mtllib mcp_joint.mtl
+o mcp_joint
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diff --git a/Robots_p/xarm+leap/meshes/visual/palm_lower.obj b/Robots_p/xarm+leap/meshes/visual/palm_lower.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a020f6f70b338e6f2e386c18a4d41597278e7ca9
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/palm_lower.obj
@@ -0,0 +1,130087 @@
+# Blender 4.0.0
+# www.blender.org
+mtllib palm_lower.mtl
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diff --git a/Robots_p/xarm+leap/meshes/visual/palm_lower_left.obj b/Robots_p/xarm+leap/meshes/visual/palm_lower_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f9875ef905d830fd39df1a48e39c1ef14d5403d
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/palm_lower_left.obj
@@ -0,0 +1,141343 @@
+# Blender 4.1.1
+# www.blender.org
+mtllib palm_lower_left.mtl
+o palm_lower_left.001
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diff --git a/Robots_p/xarm+leap/meshes/visual/pip_left.mtl b/Robots_p/xarm+leap/meshes/visual/pip_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4173f910f59d1d162f607f9456ad2799faa7648d
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/pip_left.mtl
@@ -0,0 +1,12 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/Robots_p/xarm+leap/meshes/visual/thumb_dip.mtl b/Robots_p/xarm+leap/meshes/visual/thumb_dip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..667bb086aea4f67992554b43925f0947daeb8327
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/thumb_dip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/Robots_p/xarm+leap/meshes/visual/thumb_dip.obj b/Robots_p/xarm+leap/meshes/visual/thumb_dip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274710cffa39f108def635429c0cb77cc11b803b
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/thumb_dip.obj
@@ -0,0 +1,43462 @@
+# Blender 4.0.0
+# www.blender.org
+mtllib thumb_dip.mtl
+o thumb_dip
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diff --git a/Robots_p/xarm+leap/meshes/visual/thumb_fingertip.mtl b/Robots_p/xarm+leap/meshes/visual/thumb_fingertip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e77c3f0cb8b7f88db1a3168f1b91fad36340629e
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/thumb_fingertip.mtl
@@ -0,0 +1,22 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl White_tip
+Ns 250.000183
+Ka 0.250000 0.250000 0.250000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/Robots_p/xarm+leap/meshes/visual/thumb_fingertip.obj b/Robots_p/xarm+leap/meshes/visual/thumb_fingertip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ffd1fa46f48b3cfe536bf3e4988f709f993a0c
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/thumb_fingertip.obj
@@ -0,0 +1,33385 @@
+# Blender 4.0.0
+# www.blender.org
+mtllib thumb_fingertip.mtl
+o thumb_fingertip
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diff --git a/Robots_p/xarm+leap/meshes/visual/thumb_pip.mtl b/Robots_p/xarm+leap/meshes/visual/thumb_pip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..667bb086aea4f67992554b43925f0947daeb8327
--- /dev/null
+++ b/Robots_p/xarm+leap/meshes/visual/thumb_pip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/Robots_p/xarm+leap/tactile_sensor/sensor_fingertip.obj b/Robots_p/xarm+leap/tactile_sensor/sensor_fingertip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0717892fdc71806c6d31dfd00b3b90eb24dc8e9
--- /dev/null
+++ b/Robots_p/xarm+leap/tactile_sensor/sensor_fingertip.obj
@@ -0,0 +1,742 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib sensor_fingertip.mtl
+o fingertip_W
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diff --git a/Robots_p/xarm+leap/tactile_sensor/sensor_thumb_fingertip.obj b/Robots_p/xarm+leap/tactile_sensor/sensor_thumb_fingertip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf770d96c90482e0322db3599682b9113111420
--- /dev/null
+++ b/Robots_p/xarm+leap/tactile_sensor/sensor_thumb_fingertip.obj
@@ -0,0 +1,617 @@
+# Blender 5.1.1
+# www.blender.org
+mtllib sensor_thumb_fingertip.mtl
+o thumb_fingertip_W
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new file mode 100644
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@@ -0,0 +1 @@
+8f88f8da0029b937670d5794953e8e87
\ No newline at end of file
diff --git a/Robots_p/xarm+leap/usd/config.yaml b/Robots_p/xarm+leap/usd/config.yaml
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--- /dev/null
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@@ -0,0 +1,23 @@
+asset_path: /home/ubuntu/zdj/Robots/xarm+leap/multi_xarm7_with_leap.urdf
+usd_dir: /home/ubuntu/zdj/Robots/xarm+leap/usd_sdf_linux
+usd_file_name: multi_xarm7_with_leap.usd
+force_usd_conversion: true
+make_instanceable: false
+fix_base: true
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-04-14 at 22:43:42.
+##
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