Add xhand urdf

robots/xhand_right/urdf/meshes/right_hand_back_link.STL

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robots/xhand_right/urdf/meshes/right_hand_ee_link.STL

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robots/xhand_right/urdf/meshes/right_hand_index_bend_link.STL

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robots/xhand_right/urdf/meshes/right_hand_index_rota_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_index_rota_link2.STL

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robots/xhand_right/urdf/meshes/right_hand_index_rota_tip.STL

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robots/xhand_right/urdf/meshes/right_hand_index_rotaback_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_index_rotaback_link2.STL

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robots/xhand_right/urdf/meshes/right_hand_link.STL

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robots/xhand_right/urdf/meshes/right_hand_mid_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_mid_link2.STL

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robots/xhand_right/urdf/meshes/right_hand_mid_tip.STL

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robots/xhand_right/urdf/meshes/right_hand_midback_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_midback_link2.STL

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robots/xhand_right/urdf/meshes/right_hand_pinky_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_pinky_link2.STL

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robots/xhand_right/urdf/meshes/right_hand_pinky_tip.STL

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robots/xhand_right/urdf/meshes/right_hand_pinkyback_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_pinkyback_link2.STL

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robots/xhand_right/urdf/meshes/right_hand_ring_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_ring_link2.STL

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robots/xhand_right/urdf/meshes/right_hand_ring_tip.STL

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robots/xhand_right/urdf/meshes/right_hand_ringback_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_ringback_link2.STL

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robots/xhand_right/urdf/meshes/right_hand_thumb_bend_link.STL

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robots/xhand_right/urdf/meshes/right_hand_thumb_rota_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_thumb_rota_link2.STL

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robots/xhand_right/urdf/meshes/right_hand_thumb_rota_tip.STL

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robots/xhand_right/urdf/meshes/right_hand_thumb_rotaback_link1.STL

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robots/xhand_right/urdf/meshes/right_hand_thumb_rotaback_link2.STL

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robots/xhand_right/urdf/xhand_right.csv

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+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
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+right_hand_ee_link,1.4529186126289E-19,-2.85196737334113E-18,0,0,0,0,5.65450977765344E-06,1.49608904533747E-11,5.76854918783085E-28,5.33110096152937E-28,6.36132349986012E-12,-2.37175435605063E-28,1.49608904533747E-11,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ee_link.STL,0.988235294117647,0.737254901960784,0.517647058823529,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ee_link.STL,,MH2.25-V3.0-13-2,h1,a0,right_hand_ee_joint,fixed,0,0,0.065,0,0,0,right_hand_link,0,0,0,,,,,,,0,0,,,,
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robots/xhand_right/urdf/xhand_right.urdf

@@ -0,0 +1,1731 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
+     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="xhand_right">
+  <link
+    name="right_hand_link">
+    <inertial>
+      <origin
+        xyz="0.010035126340455 -0.00366835056360167 0.0582695212892126"
+        rpy="0 0 0" />
+      <mass
+        value="0.53851506" />
+      <inertia
+        ixx=".00064186"
+        ixy="0.00000002"
+        ixz="-0.00000217"
+        iyy="0.00046434"
+        iyz="0.00005134"
+        izz="0.00027538" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="right_hand_ee_link">
+    <inertial>
+      <origin
+        xyz="1.4529186126289E-19 -2.85196737334113E-18 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ee_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ee_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.065"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_ee_link" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_back_link">
+    <inertial>
+      <origin
+        xyz="-0.0140081519632461 -0.00149245332244742 -0.000647126026633069"
+        rpy="0 0 0" />
+      <mass
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+      <inertia
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+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_back_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_back_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_back_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.065"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_back_link" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_bend_link">
+    <inertial>
+      <origin
+        xyz="-0.00116534489100702 0.0144358799903649 5.40665183232092E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.01151453" />
+      <inertia
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+        ixy="-0.00000003"
+        ixz="0.00000000001"
+        iyy="0.00000062"
+        iyz="0.00000007"
+        izz="0.00000157" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_bend_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_bend_joint"
+    type="revolute">
+    <origin
+      xyz="0.0095 0.0228 0.0305"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_thumb_bend_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.832"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rota_link1">
+    <inertial>
+      <origin
+        xyz="-0.00036176505273174 0.0287681485595387 0.00133929684947857"
+        rpy="0 0 0" />
+      <mass
+        value="0.1322853" />
+      <inertia
+        ixx="0.00003665"
+        ixy="-0.00000788"
+        ixz="0.00000198"
+        iyy="0.00001694"
+        iyz="0.00000185"
+        izz="0.00004358" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rota_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rota_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0083177 0.028599 -0.00178"
+      rpy="0 0.2618 -0.0407" />
+    <parent
+      link="right_hand_thumb_bend_link" />
+    <child
+      link="right_hand_thumb_rota_link1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.698"
+      upper="1.57"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rotaback_link1">
+    <inertial>
+      <origin
+        xyz="0.00143342397772657 -0.0296289408961753 -0.00759117851370326"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000006" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rotaback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rotaback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rotaback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0.0553000000000007 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_thumb_rota_link1" />
+    <child
+      link="right_hand_thumb_rotaback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rota_link2">
+    <inertial>
+      <origin
+        xyz="-0.000881604281134662 0.0225339954987271 0.000614550644508979"
+        rpy="0 0 0" />
+      <mass
+        value="0.03516871" />
+      <inertia
+        ixx="0.00000779"
+        ixy="-0.00000002"
+        ixz="0.00000034"
+        iyy="0.0000035"
+        iyz="-0.00000018"
+        izz="0.00000896" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rota_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rota_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0.0553 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_thumb_rota_link1" />
+    <child
+      link="right_hand_thumb_rota_link2" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rotaback_link2">
+    <inertial>
+      <origin
+        xyz="-0.000532663554883375 -0.0258393181739458 -0.00924631111128287"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000004" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rotaback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rotaback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rotaback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0.0502276499414863 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_thumb_rota_link2" />
+    <child
+      link="right_hand_thumb_rotaback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rota_tip">
+    <inertial>
+      <origin
+        xyz="1.82145964977565E-17 -2.77555756156289E-17 1.31838984174237E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rota_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_thumb_rota_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rota_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0.0502276499414863 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_thumb_rota_link2" />
+    <child
+      link="right_hand_thumb_rota_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_bend_link">
+    <inertial>
+      <origin
+        xyz="-0.000715851164577249 0.000118997558760756 0.0111903014853532"
+        rpy="0 0 0" />
+      <mass
+        value="0.068721" />
+      <inertia
+        ixx="0.00001643"
+        ixy="0.00000000001"
+        ixz="0.00000013"
+        iyy="0.00001707"
+        iyz="-0.00000011"
+        izz="0.00000343" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_bend_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_bend_joint"
+    type="revolute">
+    <origin
+      xyz="0.0065 0.0265 0.0899"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_index_bend_link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.174"
+      upper="0.174"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rota_link1">
+    <inertial>
+      <origin
+        xyz="0.00063293051295399 0.00013300810657332 0.0355868719939061"
+        rpy="0 0 0" />
+      <mass
+        value="0.06298297" />
+      <inertia
+        ixx="0.00001686"
+        ixy="0.00000000001"
+        ixz="-0.00000019"
+        iyy="0.00001738"
+        iyz="-0.00000028"
+        izz="0.0000032" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rota_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0178"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_bend_link" />
+    <child
+      link="right_hand_index_rota_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rotaback_link1">
+    <inertial>
+      <origin
+        xyz="-0.0115948039989203 -0.000148034626475925 -0.0241234086564007"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000002" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rotaback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rotaback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_rotaback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0557999999999955"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_rota_link1" />
+    <child
+      link="right_hand_index_rotaback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rota_link2">
+    <inertial>
+      <origin
+        xyz="0.00119905190206782 -0.000248361661986104 0.0213789854478679"
+        rpy="0 0 0" />
+      <mass
+        value="0.01582395" />
+      <inertia
+        ixx="0.00000283"
+        ixy="0.00000000001"
+        ixz="-0.00000007"
+        iyy="0.00000277"
+        iyz="-0.00000012"
+        izz="0.00000085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rota_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_rota_link1" />
+    <child
+      link="right_hand_index_rota_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rotaback_link2">
+    <inertial>
+      <origin
+        xyz="-0.00758843721876551 0.00015795043857645 -0.0176655210856158"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000001" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rotaback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rotaback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_rotaback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089424"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_rota_link2" />
+    <child
+      link="right_hand_index_rotaback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rota_tip">
+    <inertial>
+      <origin
+        xyz="7.13838710364456E-16 -3.46944695195361E-18 2.77555756156289E-17"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rota_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_index_rota_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_rota_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089424"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_rota_link2" />
+    <child
+      link="right_hand_index_rota_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_mid_link1">
+    <inertial>
+      <origin
+        xyz="0.000530417592106097 3.58049083658378E-05 0.033278467115721"
+        rpy="0 0 0" />
+      <mass
+        value="0.06298297" />
+      <inertia
+        ixx="0.00001681"
+        ixy="0.00000000001"
+        ixz="-0.00000087"
+        iyy="0.00001738"
+        iyz="-0.00000028"
+        izz="0.00000325" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_mid_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_mid_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_mid_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0065 0.004 0.1082"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_mid_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_midback_link1">
+    <inertial>
+      <origin
+        xyz="-0.0115948039977618 -0.000148034759331951 -0.0241234077138271"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000002" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_midback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_midback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_midback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_mid_link1" />
+    <child
+      link="right_hand_midback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_mid_link2">
+    <inertial>
+      <origin
+        xyz="0.00119905190206755 -0.000248361661996566 0.0213789854478682"
+        rpy="0 0 0" />
+      <mass
+        value="0.01582395" />
+      <inertia
+        ixx="0.00000287"
+        ixy="-0.00000001"
+        ixz="-0.00000019"
+        iyy="0.00000283"
+        iyz="-0.00000012"
+        izz="0.00000087" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_mid_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_mid_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_mid_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_mid_link1" />
+    <child
+      link="right_hand_mid_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_midback_link2">
+    <inertial>
+      <origin
+        xyz="-0.00758843721876527 0.000157950438608734 -0.0176655210856121"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000001" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_midback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_midback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_midback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089416"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_mid_link2" />
+    <child
+      link="right_hand_midback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_mid_tip">
+    <inertial>
+      <origin
+        xyz="6.99093560818653E-16 2.6104986228237E-14 8.32667268468867E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_mid_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_mid_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_mid_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0 0.042248"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_mid_link2" />
+    <child
+      link="right_hand_mid_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ring_link1">
+    <inertial>
+      <origin
+        xyz="0.000530417592105675 3.58049083603318E-05 0.0332784671157224"
+        rpy="0 0 0" />
+      <mass
+        value="0.06298297" />
+      <inertia
+        ixx="0.00001681"
+        ixy="0.00000000001"
+        ixz="-0.00000087"
+        iyy="0.00001738"
+        iyz="-0.00000028"
+        izz="0.00000325" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ring_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ring_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ring_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0065 -0.016 0.1052"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_ring_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ringback_link1">
+    <inertial>
+      <origin
+        xyz="-0.0115948040042931 -0.000148034878525431 -0.0241234080984737"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000002" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ringback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ringback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ringback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_ring_link1" />
+    <child
+      link="right_hand_ringback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ring_link2">
+    <inertial>
+      <origin
+        xyz="0.00119905192644367 -0.000248361559624762 0.0213789854805378"
+        rpy="0 0 0" />
+      <mass
+        value="0.01582395" />
+      <inertia
+        ixx="0.00000287"
+        ixy="-0.00000001"
+        ixz="-0.00000019"
+        iyy="0.00000283"
+        iyz="-0.00000012"
+        izz="0.00000087" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ring_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ring_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ring_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_ring_link1" />
+    <child
+      link="right_hand_ring_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ringback_link2">
+    <inertial>
+      <origin
+        xyz="-0.00758843721876704 0.000157950438643945 -0.0176655210856309"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000001" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ringback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ringback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ringback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089404"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_ring_link2" />
+    <child
+      link="right_hand_ringback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ring_tip">
+    <inertial>
+      <origin
+        xyz="3.0444397003393E-16 -9.71445146547012E-17 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ring_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ring_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089404"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_ring_link2" />
+    <child
+      link="right_hand_ring_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinky_link1">
+    <inertial>
+      <origin
+        xyz="0.00053041759210553 3.58049083602902E-05 0.0332784671157224"
+        rpy="0 0 0" />
+      <mass
+        value="0.06298297" />
+      <inertia
+        ixx="0.00001681"
+        ixy="0.00000000001"
+        ixz="-0.00000087"
+        iyy="0.00001738"
+        iyz="-0.00000028"
+        izz="0.00000325" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinky_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinky_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinky_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0065 -0.036 0.1022"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_pinky_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinkyback_link1">
+    <inertial>
+      <origin
+        xyz="-0.0115948039527258 -0.000148033943928788 -0.0241234090857975"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000002" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinkyback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinkyback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinkyback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0558000000000001"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_pinky_link1" />
+    <child
+      link="right_hand_pinkyback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinky_link2">
+    <inertial>
+      <origin
+        xyz="0.001199051902067 -0.000248361662016403 0.0213789854478657"
+        rpy="0 0 0" />
+      <mass
+        value="0.01582395" />
+      <inertia
+        ixx="0.00000287"
+        ixy="-0.00000001"
+        ixz="-0.00000019"
+        iyy="0.00000283"
+        iyz="-0.00000012"
+        izz="0.00000087" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinky_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinky_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinky_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_pinky_link1" />
+    <child
+      link="right_hand_pinky_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinkyback_link2">
+    <inertial>
+      <origin
+        xyz="-0.00758843721876425 0.000157950438630629 -0.0176655210855414"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000001" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001"/>
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinkyback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinkyback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinkyback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089405"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_pinky_link2" />
+    <child
+      link="right_hand_pinkyback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinky_tip">
+    <inertial>
+      <origin
+        xyz="1.17961196366423E-16 -2.91433543964104E-16 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001"/>
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinky_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/right_hand_pinky_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinky_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089405"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_pinky_link2" />
+    <child
+      link="right_hand_pinky_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+</robot>

robots/xhand_right/urdf/xhand_right.urdf.bak

@@ -0,0 +1,1731 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
+     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="xhand_right">
+  <link
+    name="right_hand_link">
+    <inertial>
+      <origin
+        xyz="0.010035126340455 -0.00366835056360167 0.0582695212892126"
+        rpy="0 0 0" />
+      <mass
+        value="0.53851506" />
+      <inertia
+        ixx=".00064186"
+        ixy="0.00000002"
+        ixz="-0.00000217"
+        iyy="0.00046434"
+        iyz="0.00005134"
+        izz="0.00027538" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="right_hand_ee_link">
+    <inertial>
+      <origin
+        xyz="1.4529186126289E-19 -2.85196737334113E-18 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ee_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ee_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.065"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_ee_link" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_back_link">
+    <inertial>
+      <origin
+        xyz="-0.0140081519632461 -0.00149245332244742 -0.000647126026633069"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000002" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_back_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_back_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_back_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0.065"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_back_link" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_bend_link">
+    <inertial>
+      <origin
+        xyz="-0.00116534489100702 0.0144358799903649 5.40665183232092E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.01151453" />
+      <inertia
+        ixx="0.00000155"
+        ixy="-0.00000003"
+        ixz="0.00000000001"
+        iyy="0.00000062"
+        iyz="0.00000007"
+        izz="0.00000157" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_bend_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_bend_joint"
+    type="revolute">
+    <origin
+      xyz="0.0095 0.0228 0.0305"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_thumb_bend_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.832"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rota_link1">
+    <inertial>
+      <origin
+        xyz="-0.00036176505273174 0.0287681485595387 0.00133929684947857"
+        rpy="0 0 0" />
+      <mass
+        value="0.1322853" />
+      <inertia
+        ixx="0.00003665"
+        ixy="-0.00000788"
+        ixz="0.00000198"
+        iyy="0.00001694"
+        iyz="0.00000185"
+        izz="0.00004358" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rota_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rota_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0083177 0.028599 -0.00178"
+      rpy="0 0.2618 -0.0407" />
+    <parent
+      link="right_hand_thumb_bend_link" />
+    <child
+      link="right_hand_thumb_rota_link1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.698"
+      upper="1.57"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rotaback_link1">
+    <inertial>
+      <origin
+        xyz="0.00143342397772657 -0.0296289408961753 -0.00759117851370326"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000006" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rotaback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rotaback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rotaback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0.0553000000000007 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_thumb_rota_link1" />
+    <child
+      link="right_hand_thumb_rotaback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rota_link2">
+    <inertial>
+      <origin
+        xyz="-0.000881604281134662 0.0225339954987271 0.000614550644508979"
+        rpy="0 0 0" />
+      <mass
+        value="0.03516871" />
+      <inertia
+        ixx="0.00000779"
+        ixy="-0.00000002"
+        ixz="0.00000034"
+        iyy="0.0000035"
+        iyz="-0.00000018"
+        izz="0.00000896" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rota_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rota_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0.0553 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_thumb_rota_link1" />
+    <child
+      link="right_hand_thumb_rota_link2" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="1.745"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rotaback_link2">
+    <inertial>
+      <origin
+        xyz="-0.000532663554883375 -0.0258393181739458 -0.00924631111128287"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000004" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rotaback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rotaback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rotaback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0.0502276499414863 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_thumb_rota_link2" />
+    <child
+      link="right_hand_thumb_rotaback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_thumb_rota_tip">
+    <inertial>
+      <origin
+        xyz="1.82145964977565E-17 -2.77555756156289E-17 1.31838984174237E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rota_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_thumb_rota_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_thumb_rota_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0.0502276499414863 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_thumb_rota_link2" />
+    <child
+      link="right_hand_thumb_rota_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_bend_link">
+    <inertial>
+      <origin
+        xyz="-0.000715851164577249 0.000118997558760756 0.0111903014853532"
+        rpy="0 0 0" />
+      <mass
+        value="0.068721" />
+      <inertia
+        ixx="0.00001643"
+        ixy="0.00000000001"
+        ixz="0.00000013"
+        iyy="0.00001707"
+        iyz="-0.00000011"
+        izz="0.00000343" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_bend_link.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_bend_joint"
+    type="revolute">
+    <origin
+      xyz="0.0065 0.0265 0.0899"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_index_bend_link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.174"
+      upper="0.174"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rota_link1">
+    <inertial>
+      <origin
+        xyz="0.00063293051295399 0.00013300810657332 0.0355868719939061"
+        rpy="0 0 0" />
+      <mass
+        value="0.06298297" />
+      <inertia
+        ixx="0.00001686"
+        ixy="0.00000000001"
+        ixz="-0.00000019"
+        iyy="0.00001738"
+        iyz="-0.00000028"
+        izz="0.0000032" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rota_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0178"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_bend_link" />
+    <child
+      link="right_hand_index_rota_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rotaback_link1">
+    <inertial>
+      <origin
+        xyz="-0.0115948039989203 -0.000148034626475925 -0.0241234086564007"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000002" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rotaback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rotaback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_rotaback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0557999999999955"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_rota_link1" />
+    <child
+      link="right_hand_index_rotaback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rota_link2">
+    <inertial>
+      <origin
+        xyz="0.00119905190206782 -0.000248361661986104 0.0213789854478679"
+        rpy="0 0 0" />
+      <mass
+        value="0.01582395" />
+      <inertia
+        ixx="0.00000283"
+        ixy="0.00000000001"
+        ixz="-0.00000007"
+        iyy="0.00000277"
+        iyz="-0.00000012"
+        izz="0.00000085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rota_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_rota_link1" />
+    <child
+      link="right_hand_index_rota_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rotaback_link2">
+    <inertial>
+      <origin
+        xyz="-0.00758843721876551 0.00015795043857645 -0.0176655210856158"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000001" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rotaback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rotaback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_rotaback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089424"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_rota_link2" />
+    <child
+      link="right_hand_index_rotaback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_index_rota_tip">
+    <inertial>
+      <origin
+        xyz="7.13838710364456E-16 -3.46944695195361E-18 2.77555756156289E-17"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rota_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_index_rota_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_index_rota_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089424"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_index_rota_link2" />
+    <child
+      link="right_hand_index_rota_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_mid_link1">
+    <inertial>
+      <origin
+        xyz="0.000530417592106097 3.58049083658378E-05 0.033278467115721"
+        rpy="0 0 0" />
+      <mass
+        value="0.06298297" />
+      <inertia
+        ixx="0.00001681"
+        ixy="0.00000000001"
+        ixz="-0.00000087"
+        iyy="0.00001738"
+        iyz="-0.00000028"
+        izz="0.00000325" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_mid_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_mid_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_mid_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0065 0.004 0.1082"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_mid_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_midback_link1">
+    <inertial>
+      <origin
+        xyz="-0.0115948039977618 -0.000148034759331951 -0.0241234077138271"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000002" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_midback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_midback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_midback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_mid_link1" />
+    <child
+      link="right_hand_midback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_mid_link2">
+    <inertial>
+      <origin
+        xyz="0.00119905190206755 -0.000248361661996566 0.0213789854478682"
+        rpy="0 0 0" />
+      <mass
+        value="0.01582395" />
+      <inertia
+        ixx="0.00000287"
+        ixy="-0.00000001"
+        ixz="-0.00000019"
+        iyy="0.00000283"
+        iyz="-0.00000012"
+        izz="0.00000087" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_mid_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_mid_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_mid_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_mid_link1" />
+    <child
+      link="right_hand_mid_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_midback_link2">
+    <inertial>
+      <origin
+        xyz="-0.00758843721876527 0.000157950438608734 -0.0176655210856121"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000001" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_midback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_midback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_midback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089416"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_mid_link2" />
+    <child
+      link="right_hand_midback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_mid_tip">
+    <inertial>
+      <origin
+        xyz="6.99093560818653E-16 2.6104986228237E-14 8.32667268468867E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_mid_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_mid_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_mid_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0 0.042248"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_mid_link2" />
+    <child
+      link="right_hand_mid_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ring_link1">
+    <inertial>
+      <origin
+        xyz="0.000530417592105675 3.58049083603318E-05 0.0332784671157224"
+        rpy="0 0 0" />
+      <mass
+        value="0.06298297" />
+      <inertia
+        ixx="0.00001681"
+        ixy="0.00000000001"
+        ixz="-0.00000087"
+        iyy="0.00001738"
+        iyz="-0.00000028"
+        izz="0.00000325" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ring_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ring_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ring_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0065 -0.016 0.1052"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_ring_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ringback_link1">
+    <inertial>
+      <origin
+        xyz="-0.0115948040042931 -0.000148034878525431 -0.0241234080984737"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000002" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ringback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ringback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ringback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_ring_link1" />
+    <child
+      link="right_hand_ringback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ring_link2">
+    <inertial>
+      <origin
+        xyz="0.00119905192644367 -0.000248361559624762 0.0213789854805378"
+        rpy="0 0 0" />
+      <mass
+        value="0.01582395" />
+      <inertia
+        ixx="0.00000287"
+        ixy="-0.00000001"
+        ixz="-0.00000019"
+        iyy="0.00000283"
+        iyz="-0.00000012"
+        izz="0.00000087" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ring_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ring_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ring_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_ring_link1" />
+    <child
+      link="right_hand_ring_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ringback_link2">
+    <inertial>
+      <origin
+        xyz="-0.00758843721876704 0.000157950438643945 -0.0176655210856309"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000001" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ringback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ringback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ringback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089404"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_ring_link2" />
+    <child
+      link="right_hand_ringback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_ring_tip">
+    <inertial>
+      <origin
+        xyz="3.0444397003393E-16 -9.71445146547012E-17 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ring_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_ring_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089404"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_ring_link2" />
+    <child
+      link="right_hand_ring_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinky_link1">
+    <inertial>
+      <origin
+        xyz="0.00053041759210553 3.58049083602902E-05 0.0332784671157224"
+        rpy="0 0 0" />
+      <mass
+        value="0.06298297" />
+      <inertia
+        ixx="0.00001681"
+        ixy="0.00000000001"
+        ixz="-0.00000087"
+        iyy="0.00001738"
+        iyz="-0.00000028"
+        izz="0.00000325" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinky_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinky_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinky_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0065 -0.036 0.1022"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_link" />
+    <child
+      link="right_hand_pinky_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="1.1"
+      velocity="8.63" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinkyback_link1">
+    <inertial>
+      <origin
+        xyz="-0.0115948039527258 -0.000148033943928788 -0.0241234090857975"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000002" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinkyback_link1.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinkyback_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinkyback_joint1"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0558000000000001"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_pinky_link1" />
+    <child
+      link="right_hand_pinkyback_link1" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinky_link2">
+    <inertial>
+      <origin
+        xyz="0.001199051902067 -0.000248361662016403 0.0213789854478657"
+        rpy="0 0 0" />
+      <mass
+        value="0.01582395" />
+      <inertia
+        ixx="0.00000287"
+        ixy="-0.00000001"
+        ixz="-0.00000019"
+        iyy="0.00000283"
+        iyz="-0.00000012"
+        izz="0.00000087" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinky_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinky_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinky_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0558"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_pinky_link1" />
+    <child
+      link="right_hand_pinky_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.919"
+      effort="0.4"
+      velocity="14.38" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinkyback_link2">
+    <inertial>
+      <origin
+        xyz="-0.00758843721876425 0.000157950438630629 -0.0176655210855414"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000001" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001"/>
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinkyback_link2.STL" />
+      </geometry>
+      <material
+        name="RAL_9003_Signal_White">
+        <color
+          rgba="0.941 0.941 0.941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinkyback_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinkyback_joint2"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089405"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_pinky_link2" />
+    <child
+      link="right_hand_pinkyback_link2" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+  <link
+    name="right_hand_pinky_tip">
+    <inertial>
+      <origin
+        xyz="1.17961196366423E-16 -2.91433543964104E-16 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.00000565" />
+      <inertia
+        ixx="0.00000000001"
+        ixy="0.00000000001"
+        ixz="0.00000000001"
+        iyy="0.00000000001"
+        iyz="0.00000000001"
+        izz="0.00000000001"/>
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinky_tip.STL" />
+      </geometry>
+      <material
+        name="RAL_9005_Jet_Black">
+        <color
+          rgba="0.055 0.055 0.063 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://xhand_right/meshes/right_hand_pinky_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hand_pinky_joint3"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0422482924089405"
+      rpy="0 0 0" />
+    <parent
+      link="right_hand_pinky_link2" />
+    <child
+      link="right_hand_pinky_tip" />
+    <axis
+      xyz="0 0 0" />
+    <dynamics
+      damping="0"
+      friction="0" />
+  </joint>
+</robot>