Change base_link axis.

diff --git a/miitzhand_description/meshes/base_link.stl b/miitzhand_description/meshes/base_link.stl
index ae8c7af..70983ae 100644 (file)
Binary files a/miitzhand_description/meshes/base_link.stl and b/miitzhand_description/meshes/base_link.stl differ

diff --git a/miitzhand_description/meshes/index_l2.stl b/miitzhand_description/meshes/index_l2.stl
index be7ea32..5c3d1ae 100644 (file)
Binary files a/miitzhand_description/meshes/index_l2.stl and b/miitzhand_description/meshes/index_l2.stl differ

diff --git a/miitzhand_description/meshes/index_l3.stl b/miitzhand_description/meshes/index_l3.stl
index 4d98665..9d859dd 100644 (file)
Binary files a/miitzhand_description/meshes/index_l3.stl and b/miitzhand_description/meshes/index_l3.stl differ

diff --git a/miitzhand_description/meshes/thumb_l1.stl b/miitzhand_description/meshes/thumb_l1.stl
index 0477609..43a0f43 100644 (file)
Binary files a/miitzhand_description/meshes/thumb_l1.stl and b/miitzhand_description/meshes/thumb_l1.stl differ

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 12bf1ef..d896cb6 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -1,547 +1,549 @@
-<robot name="miitzhand">  
+<robot name="miitzhand">
+
+ <link name="world"/>
   
-  <link name="world"/>   
-  
-  <link name="origin_link"/>    
-    <joint name="origin_joint" type="fixed" >    
-      <parent link="world"/>    
-      <child link="origin_link"/>    
-    </joint> 
-     
-  <link name="base_link">   
-    <inertial>      
-      <origin xyz="-0.00037433 0.0019683 0.070254" rpy="0 0 0" />      
-      <mass value="0.16419" />      
-      <inertia ixx="0.00024692" ixy="-3.8095E-06" ixz="1.5276E-06" iyy="0.00015647" iyz="-1.4218E-06" izz="0.00010717" />      
-    </inertial>   
-   
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-           <mesh filename="package://miitzhand_description/meshes/base_link.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="package://miitzhand_description/meshes/base_link.stl" />      
-      </geometry>      
-    </collision>    
-  </link>
-    
-  <joint name="base_joint" type="fixed" >    
+ <link name="origin_link"/>
+
+  <joint name="origin_joint" type="fixed" >
+   <parent link="world"/>
+   <child link="origin_link"/>
+  </joint>
+
+ <link name="base_link">
+    <inertial>
+      <origin xyz="0.070254 0.00037433 -0.0019683" rpy="0 0 0" />
+      <mass value="0.16419" />
+      <inertia ixx="0.00010717" ixy="-1.5276E-06" ixz="1.4218E-06" iyy="0.00024692" iyz="-3.8095E-06" izz="0.00015647" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/base_link.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="package://miitzhand_description/meshes/base_link.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="base_joint" type="fixed" >
+    <origin xyz="0 0 0" rpy="0 -1.5708 0" />
     <parent link="origin_link"/>    
     <child link="base_link"/>      
-  </joint>      
-  
- <link name="little_l1">      
-    <inertial>      
-      <origin xyz="0.021926 0.00020302 9.6353E-08" rpy="0 0 0" />      
-      <mass value="0.010346" />      
-      <inertia ixx="4.6802E-07" ixy="5.726E-08" ixz="1.4761E-11" iyy="2.4622E-06" iyz="4.7237E-11" izz="2.4327E-06" />      
-    </inertial>  
-    
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/little_l1.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="package://miitzhand_description/meshes/little_l1.stl" />      
-      </geometry>      
-    </collision>      
- </link> 
-     
-  <joint name="little_j1" type="revolute">      
-    <origin xyz="0.003 0.04062 0.11977" rpy="-0.034907 -1.4835 1.5708" />      
-     <parent link="base_link" />      
-     <child link="little_l1" />      
-    <axis xyz="0 0 1" />      
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
-  </joint>
-      
- <link name="little_l2">      
-    <inertial>      
-      <origin xyz="0.010872 0.00039672 4.7668E-06" rpy="0 0 0" />      
-      <mass value="0.0052657" />      
-      <inertia ixx="2.3451E-07" ixy="2.5431E-08" ixz="-2.1744E-11" iyy="6.3027E-07" iyz="2.6048E-10" izz="6.1275E-07" />      
-    </inertial> 
-     
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/little_l2.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="package://miitzhand_description/meshes/little_l2.stl" />      
-      </geometry>      
-    </collision>      
- </link> 
-     
-  <joint name="little_j2" type="revolute">      
-    <origin xyz="0.047 0 0" rpy="0 0 0" />      
-     <parent link="little_l1" />      
-     <child link="little_l2" />      
-    <axis xyz="0 0 1" />      
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="little_j1" multiplier="1" offset="0" />      
   </joint> 
-     
- <link name="little_l3">      
-    <inertial>      
-      <origin xyz="0.0099715 0.00045399 -2.4744E-07" rpy="0 0 0" />      
-      <mass value="0.0049969" />      
-      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.6349E-12" iyy="4.632E-07" iyz="-6.3855E-11" izz="4.9237E-07" />      
-    </inertial> 
-     
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/little_l3.stl" />      
-       </geometry>      
-      <material name="">      
-        <color rgba="1 1 1 1" />      
-      </material>      
+
+ <link name="little_l1">
+    <inertial>
+      <origin xyz="0.021926 0.00020302 9.6353E-08" rpy="0 0 0" />
+      <mass value="0.010346" />
+      <inertia ixx="4.6802E-07" ixy="5.726E-08" ixz="1.4761E-11" iyy="2.4622E-06" iyz="4.7237E-11" izz="2.4327E-06" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/little_l1.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="package://miitzhand_description/meshes/little_l1.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="little_j1" type="revolute">
+    <origin xyz="0.11977 -0.003 -0.04062" rpy="-0.034907 0.087266 0" />
+    <parent link="base_link" />
+    <child link="little_l1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
+  </joint>
+
+ <link name="little_l2">
+    <inertial>
+      <origin xyz="0.010872 0.00039672 4.7668E-06" rpy="0 0 0" />
+      <mass value="0.0052657" />
+      <inertia ixx="2.3451E-07" ixy="2.5431E-08" ixz="-2.1744E-11" iyy="6.3027E-07" iyz="2.6048E-10" izz="6.1275E-07" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/little_l2.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="package://miitzhand_description/meshes/little_l3.stl" />      
-      </geometry>      
-    </collision>      
- </link> 
-     
-  <joint name="little_j3" type="revolute">      
-    <origin xyz="0.0267 0 0" rpy="0 0 0" />      
-     <parent link="little_l2" />      
-     <child link="little_l3" />      
-    <axis xyz="0 0 1" />      
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/little_l2.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="little_j2" type="revolute">
+    <origin xyz="0.047 0 0" rpy="0 0 0" />
+    <parent link="little_l1" />
+    <child link="little_l2" />
+    <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="little_j1" multiplier="1" offset="0" />      
-  </joint> 
-     
- <link name="ring_l1">      
-    <inertial>      
-      <origin xyz="0.021926 0.00020302 9.349E-08" rpy="0 0 0" />      
-      <mass value="0.010346" />      
-      <inertia ixx="4.6802E-07" ixy="5.726E-08" ixz="1.4301E-11" iyy="2.4622E-06" iyz="4.7323E-11" izz="2.4327E-06" />      
+    <mimic joint="little_j1" multiplier="1" offset="0" />
+  </joint>
+
+ <link name="little_l3">
+    <inertial>
+      <origin xyz="0.0099715 0.00045399 -2.4744E-07" rpy="0 0 0" />
+      <mass value="0.0049969" />
+      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.6349E-12" iyy="4.632E-07" iyz="-6.3855E-11" izz="4.9237E-07" />
     </inertial>
-      
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/ring_l1.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="package://miitzhand_description/meshes/ring_l1.stl" />      
-      </geometry>      
-    </collision>      
- </link>  
-    
-  <joint name="ring_j1" type="revolute">      
-    <origin xyz="-0.003 0.017716 0.12886" rpy="0 -1.5359 1.5708" />      
-     <parent link="base_link" />      
-     <child link="ring_l1" />      
-    <axis xyz="0 0 1" />      
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
-  </joint>      
-  
- <link name="ring_l2">      
-    <inertial>      
-      <origin xyz="0.010872 0.00039795 1.1259E-06" rpy="0 0 0" />      
-      <mass value="0.0052659" />      
-      <inertia ixx="2.3451E-07" ixy="2.5367E-08" ixz="4.1433E-11" iyy="6.303E-07" iyz="1.167E-10" izz="6.1276E-07" />      
-    </inertial> 
-     
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/ring_l2.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="package://miitzhand_description/meshes/ring_l2.stl" />      
-      </geometry>      
-    </collision>      
- </link>      
-  
-  <joint name="ring_j2" type="revolute">      
-    <origin xyz="0.047 0 0" rpy="0 0 0" />      
-     <parent link="ring_l1" />      
-     <child link="ring_l2" />      
-    <axis xyz="0 0 1" />      
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/little_l3.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="package://miitzhand_description/meshes/little_l3.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="little_j3" type="revolute">
+    <origin xyz="0.0267 0 0" rpy="0 0 0" />
+    <parent link="little_l2" />
+    <child link="little_l3" />
+    <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="ring_j1" multiplier="1" offset="0" />      
+    <mimic joint="little_j1" multiplier="1" offset="0" />
+  </joint>
+
+ <link name="ring_l1">
+    <inertial>
+      <origin xyz="0.021926 0.00020302 9.349E-08" rpy="0 0 0" />
+      <mass value="0.010346" />
+      <inertia ixx="4.6802E-07" ixy="5.726E-08" ixz="1.4301E-11" iyy="2.4622E-06" iyz="4.7323E-11" izz="2.4327E-06" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/ring_l1.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="package://miitzhand_description/meshes/ring_l1.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="ring_j1" type="revolute">
+    <origin xyz="0.12886 0.003 -0.017716" rpy="0 0.034907 0" />
+    <parent link="base_link" />
+    <child link="ring_l1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
   </joint>
-      
-  <link name="ring_l3">      
-    <inertial>      
-      <origin xyz="0.0099715 0.00045398 -2.4944E-07" rpy="0 0 0" />      
-      <mass value="0.0049969" />      
-      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.604E-12" iyy="4.632E-07" iyz="-6.3764E-11" izz="4.9237E-07" />      
-    </inertial> 
-     
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/ring_l3.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="package://miitzhand_description/meshes/ring_l3.stl" />      
-       </geometry>      
-    </collision>      
- </link> 
-     
-  <joint name="ring_j3" type="revolute">      
-    <origin xyz="0.0267 0 0" rpy="0 0 0" />      
-     <parent link="ring_l2" />      
-     <child link="ring_l3" />      
-    <axis xyz="0 0 1" />      
+
+ <link name="ring_l2">
+    <inertial>
+      <origin xyz="0.010872 0.00039795 1.1259E-06" rpy="0 0 0" />
+      <mass value="0.0052659" />
+      <inertia  ixx="2.3451E-07" ixy="2.5367E-08" ixz="4.1433E-11" iyy="6.303E-07" iyz="1.167E-10" izz="6.1276E-07" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/ring_l2.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="package://miitzhand_description/meshes/ring_l2.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="ring_j2" type="revolute">
+    <origin xyz="0.047 0 0"  rpy="0 0 0" />
+    <parent link="ring_l1" />
+    <child link="ring_l2" />
+    <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="ring_j1" multiplier="1" offset="0" />      
-  </joint> 
-     
- <link name="middle_l1">      
-    <inertial>      
-      <origin xyz="0.021926 0.00020303 9.1214E-08" rpy="0 0 0" />      
-      <mass value="0.010346" />      
-      <inertia ixx="4.6802E-07" ixy="5.7259E-08" ixz="1.3936E-11" iyy="2.4622E-06" iyz="4.7436E-11" izz="2.4327E-06" />      
+    <mimic joint="ring_j1" multiplier="1" offset="0" />
+  </joint>
+
+ <link name="ring_l3">
+    <inertial>
+      <origin xyz="0.0099715 0.00045398 -2.4944E-07" rpy="0 0 0" />
+      <mass value="0.0049969" />
+      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.604E-12" iyy="4.632E-07" iyz="-6.3764E-11" izz="4.9237E-07" />
     </inertial>
-      
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/middle_l1.stl" />      
-       </geometry>      
-      <material name="">      
-        <color rgba="1 1 1 1" />      
-      </material>      
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/ring_l3.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="package://miitzhand_description/meshes/middle_l1.stl" />      
-       </geometry>      
-    </collision>      
- </link> 
-     
-  <joint name="middle_j1" type="revolute">      
-    <origin xyz="-0.003 -0.007 0.1285" rpy="1.5097 -1.5708 0" />      
-     <parent link="base_link" />      
-     <child link="middle_l1" />      
-    <axis xyz="0 0 1" />      
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/ring_l3.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="ring_j3" type="revolute">
+    <origin xyz="0.0267 0 0" rpy="0 0 0" />
+    <parent link="ring_l2" />
+    <child link="ring_l3" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
+    <mimic joint="ring_j1" multiplier="1" offset="0" />
+  </joint>
+
+ <link name="middle_l1">
+    <inertial>
+      <origin xyz="0.021926 0.00020303 9.1214E-08" rpy="0 0 0" />
+      <mass value="0.010346" />
+      <inertia ixx="4.6802E-07" ixy="5.7259E-08" ixz="1.3936E-11" iyy="2.4622E-06" iyz="4.7436E-11" izz="2.4327E-06" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/middle_l1.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="package://miitzhand_description/meshes/middle_l1.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="middle_j1" type="revolute">
+    <origin xyz="0.1285 0.003 0.007" rpy="0.061087 0 0" />
+    <parent link="base_link" />
+    <child link="middle_l1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />
   </joint>
-      
- <link name="middle_l2">      
-    <inertial>      
-      <origin xyz="0.010872 0.00039802 1.0929E-06" rpy="0 0 0" />      
-      <mass value="0.0052658" />      
-      <inertia ixx="2.345E-07" ixy="2.5369E-08" ixz="4.0562E-11" iyy="6.303E-07" iyz="1.133E-10" izz="6.1276E-07" />      
+
+  <link name="middle_l2">
+    <inertial>
+      <origin xyz="0.010872 0.00039802 1.0929E-06" rpy="0 0 0" />
+      <mass value="0.0052658" />
+      <inertia ixx="2.345E-07" ixy="2.5369E-08" ixz="4.0562E-11"  iyy="6.303E-07" iyz="1.133E-10" izz="6.1276E-07" />
     </inertial>
-      
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/middle_l2.stl" />      
-       </geometry>      
-      <material name="">      
-        <color rgba="1 1 1 1" />      
-      </material>      
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/middle_l2.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="package://miitzhand_description/meshes/middle_l2.stl" />      
-      </geometry>      
-    </collision>      
- </link> 
-     
-  <joint name="middle_j2" type="revolute">      
-    <origin xyz="0.047 0 0" rpy="0 0 0" />      
-     <parent link="middle_l1" />      
-     <child link="middle_l2" />      
-    <axis xyz="0 0 1" />      
+
+    <collision>
+      <origin xyz="0 0 0"  rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/middle_l2.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="middle_j2" type="revolute">
+    <origin xyz="0.047 0 0" rpy="0 0 0" />
+    <parent link="middle_l1" />
+    <child link="middle_l2" />
+    <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="middle_j1" multiplier="1" offset="0" />      
+    <mimic joint="middle_j1" multiplier="1" offset="0" />
   </joint>
-      
- <link name="middle_l3">      
-    <inertial>      
-      <origin xyz="0.0099715 0.00045399 -2.4729E-07" rpy="0 0 0" />      
-      <mass value="0.0049969" />      
-      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.5922E-12" iyy="4.632E-07" iyz="-6.3732E-11" izz="4.9237E-07" />      
-    </inertial>      
-    
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/middle_l3.stl" />      
-       </geometry>      
-      <material name="">      
-        <color rgba="1 1 1 1" />      
-      </material>      
+
+ <link name="middle_l3">
+    <inertial>
+      <origin xyz="0.0099715 0.00045399 -2.4729E-07" rpy="0 0 0" />
+      <mass value="0.0049969" />
+      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.5922E-12" iyy="4.632E-07" iyz="-6.3732E-11" izz="4.9237E-07" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/middle_l3.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="package://miitzhand_description/meshes/middle_l3.stl" />      
-       </geometry>      
-    </collision>      
+
+    <collision>
+      <origin xyz="0 0 0"  rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/middle_l3.stl" />
+      </geometry>
+    </collision>
  </link>
-      
-  <joint name="middle_j3" type="revolute">      
-    <origin xyz="0.0267 0 0" rpy="0 0 0" />      
-     <parent link="middle_l2" />      
-     <child link="middle_l3" />      
-    <axis xyz="0 0 1" />      
+
+  <joint name="middle_j3" type="revolute">
+    <origin xyz="0.0267 0 0" rpy="0 0 0" />
+    <parent link="middle_l2" />
+    <child link="middle_l3" />
+    <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="middle_j1" multiplier="1" offset="0" />      
+    <mimic joint="middle_j1" multiplier="1" offset="0" />
   </joint>
-      
- <link name="index_l1">      
-    <inertial>      
-      <origin xyz="0.021926 0.00020303 8.9303E-08" rpy="0 0 0" />      
-      <mass value="0.010346" />      
-      <inertia ixx="4.6802E-07" ixy="5.7259E-08" ixz="1.3617E-11" iyy="2.4622E-06" iyz="4.7436E-11" izz="2.4327E-06" />      
-    </inertial> 
-     
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/index_l1.stl" />      
-       </geometry>      
-      <material name="">      
-        <color rgba="1 1 1 1" />      
-      </material>      
+
+ <link name="index_l1">
+    <inertial>
+      <origin xyz="0.021926 0.00020303 8.9303E-08" rpy="0 0 0" />
+      <mass value="0.010346" />
+      <inertia ixx="4.6802E-07" ixy="5.7259E-08" ixz="1.3617E-11" iyy="2.4622E-06" iyz="4.7436E-11" izz="2.4327E-06" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/index_l1.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="package://miitzhand_description/meshes/index_l1.stl" />      
-       </geometry>      
-    </collision>     
- </link>      
-  
-  <joint name="index_j1" type="revolute">      
-    <origin xyz="0 -0.030847 0.12828" rpy="-3.0402 -1.5533 -1.5708" />      
-     <parent link="base_link" />      
-     <child link="index_l1" />      
-    <axis xyz="0 0 1" />      
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
-  </joint>      
- 
- <link name="index_l2">      
-    <inertial>      
-      <origin xyz="0.010872 0.00039808 1.071E-06" rpy="0 0 0" />      
-      <mass value="0.0052658" />      
-      <inertia ixx="2.345E-07" ixy="2.5371E-08" ixz="4.0061E-11" iyy="6.303E-07" iyz="1.1054E-10" izz="6.1275E-07" />      
-    </inertial>      
-    
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/index_l2.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="package://miitzhand_description/meshes/index_l2.stl" />      
-       </geometry>      
-    </collision>      
- </link> 
-     
-  <joint name="index_j2" type="revolute">      
-    <origin xyz="0.047 0 0" rpy="0 0 0" />      
-     <parent link="index_l1" />      
-     <child link="index_l2" />      
-    <axis xyz="0 0 1" />      
+
+    <collision>
+      <origin xyz="0 0 0"  rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/index_l1.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="index_j1" type="revolute">
+    <origin xyz="0.12828 0 0.030847" rpy="0.10135 -0.017453 0" />
+    <parent link="base_link" />
+    <child link="index_l1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" /> 
+  </joint>
+
+ <link name="index_l2">
+    <inertial>
+      <origin xyz="0.010872 0.00039808 1.071E-06"  rpy="0 0 0" />
+      <mass value="0.0052658" />
+      <inertia ixx="2.345E-07" ixy="2.5371E-08" ixz="4.0061E-11" iyy="6.303E-07" iyz="1.1054E-10" izz="6.1275E-07" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/index_l2.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="package://miitzhand_description/meshes/index_l2.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="index_j2" type="revolute">
+    <origin xyz="0.047 0 0" rpy="0 0 0" />
+    <parent link="index_l1" />
+    <child link="index_l2" />
+    <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="index_j1" multiplier="1" offset="0" />      
-  </joint>      
-  
- <link name="index_l3">      
-    <inertial>      
-      <origin xyz="0.0099715 0.00045399 -2.4634E-07" rpy="0 0 0" />      
-      <mass value="0.0049969" />      
-      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.6038E-12" iyy="4.632E-07" iyz="-6.3738E-11" izz="4.9237E-07" />      
-    </inertial>      
-    
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/index_l3.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="package://miitzhand_description/meshes/index_l3.stl" />      
-       </geometry>      
-    </collision>      
- </link> 
-     
-  <joint name="index_j3" type="revolute">      
-    <origin xyz="0.0267 0 0" rpy="0 0 0" />      
-     <parent link="index_l2" />      
-     <child link="index_l3" />      
-    <axis xyz="0 0 1" />      
+    <mimic joint="index_j1" multiplier="1" offset="0" />
+  </joint>
+
+ <link name="index_l3">
+    <inertial>
+      <origin xyz="0.0099715 0.00045399 -2.4701E-07" rpy="0 0 0" />
+      <mass value="0.0049969" />
+      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.6354E-12" iyy="4.632E-07" iyz="-6.3734E-11" izz="4.9237E-07" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/index_l3.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="package://miitzhand_description/meshes/index_l3.stl" />
+      </geometry>
+    </collision>
+ </link>
+
+  <joint name="index_j3" type="revolute">
+    <origin xyz="0.0267 0 0" rpy="0 0 0" />
+    <parent link="index_l2" />
+    <child link="index_l3" />
+    <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="index_j1" multiplier="1" offset="0" />      
+    <mimic joint="index_j1" multiplier="1" offset="0" />
   </joint>
-      
- <link name="thumb_l1">      
-    <inertial>      
-      <origin xyz="-3.496E-16 0.021473 -0.015879" rpy="0 0 0" />      
-      <mass value="0.0091302" />      
-      <inertia ixx="1.8031E-06" ixy="4.0034E-14" ixz="4.2008E-21" iyy="6.4629E-07" iyz="-2.8188E-07" izz="1.5763E-06" />      
-    </inertial>      
-    
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/thumb_l1.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="package://miitzhand_description/meshes/thumb_l1.stl" />      
-       </geometry>      
-    </collision>      
+
+ <link name="thumb_l1">
+    <inertial>
+      <origin xyz="-3.4976E-16 0.021473 -0.015879"  rpy="0 0 0" />
+      <mass value="0.0091302" />
+      <inertia ixx="1.8031E-06" ixy="4.0034E-14" ixz="4.208E-21" iyy="6.4629E-07" iyz="-2.8188E-07" izz="1.5763E-06" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/thumb_l1.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="package://miitzhand_description/meshes/thumb_l1.stl" />
+      </geometry>
+    </collision>
  </link>
-      
-  <joint name="thumb_j1" type="revolute">      
-    <origin xyz="-0.00034464 -0.043575 0.070929" rpy="-0.69813 0 -3.1416" />      
-     <parent link="base_link" />      
-     <child link="thumb_l1" />      
-    <axis xyz="0 0 1" />      
-    <limit lower="0" upper="1.57" effort="0.37" velocity="5.61" />      
+
+  <joint name="thumb_j1" type="revolute">
+    <origin xyz="0.070929 0.00034464 0.043575" rpy="0.87266 0 1.5708" />
+    <parent link="base_link" />
+    <child link="thumb_l1" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.57" effort="0.37" velocity="5.61" />
   </joint>
-      
- <link name="thumb_l2">      
-    <inertial>      
-      <origin xyz="0.021926 0.00020302 9.7353E-08" rpy="0 0 0" />      
-      <mass value="0.010346" />      
-      <inertia ixx="4.6802E-07" ixy="5.726E-08" ixz="1.5393E-11" iyy="2.4622E-06" iyz="4.7897E-11" izz="2.4327E-06" />      
-    </inertial> 
-     
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/thumb_l2.stl" />      
-       </geometry>      
-      <material name="">      
-        <color rgba="1 1 1 1" />      
-      </material>      
+
+  <link name="thumb_l2">
+    <inertial>
+      <origin xyz="0.021926 0.00020302 9.7353E-08" rpy="0 0 0" />
+      <mass value="0.010346" />
+      <inertia ixx="4.6802E-07"  ixy="5.726E-08" ixz="1.5393E-11" iyy="2.4622E-06" iyz="4.7897E-11" izz="2.4327E-06" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+       <geometry>
+        <mesh filename="package://miitzhand_description/meshes/thumb_l2.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="package://miitzhand_description/meshes/thumb_l2.stl" />      
-       </geometry>      
-    </collision>      
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/thumb_l2.stl" />
+      </geometry>
+    </collision>
  </link>
-     
-  <joint name="thumb_j2" type="revolute">      
-    <origin xyz="0 0.03 0" rpy="-1.5708 0 0" />      
-     <parent link="thumb_l1" />      
-     <child link="thumb_l2" />      
-    <axis xyz="0 0 1" />      
-    <limit lower="-3.14" upper="-1.57" effort="0.37" velocity="5.61" />      
-  </joint>      
-  
- <link name="thumb_l3">      
-    <inertial>      
-      <origin xyz="0.0099715 0.00045398 -2.5524E-07" rpy="0 0 0" />      
-      <mass value="0.004997" />      
-      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.6937E-12" iyy="4.632E-07" iyz="-6.3833E-11" izz="4.9237E-07" />      
+
+  <joint name="thumb_j2" type="revolute">
+    <origin xyz="0 0.03 0" rpy="-1.5708 0 0" />
+    <parent link="thumb_l1" />
+    <child link="thumb_l2" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="-1.57" effort="0.37" velocity="5.61" />
+  </joint>
+
+ <link name="thumb_l3">
+    <inertial>
+      <origin xyz="0.0099715 0.00045398 -2.5524E-07" rpy="0 0 0" />
+      <mass value="0.004997" />
+      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.6937E-12" iyy="4.632E-07" iyz="-6.3833E-11" izz="4.9237E-07" />
     </inertial>
-      
-    <visual>      
-      <origin xyz="0 0 0" rpy="0 0 0" />      
-       <geometry>      
-        <mesh filename="package://miitzhand_description/meshes/thumb_l3.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="package://miitzhand_description/meshes/thumb_l3.stl" />      
-       </geometry>      
-    </collision>      
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://miitzhand_description/meshes/thumb_l3.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="package://miitzhand_description/meshes/thumb_l3.stl" />
+      </geometry>
+    </collision>
  </link>
-      
-  <joint name="thumb_j3" type="revolute">      
-    <origin xyz="0.047 0 0" rpy="0 0 0" />      
-     <parent link="thumb_l2" />      
-     <child link="thumb_l3" />      
-    <axis xyz="0 0 1" />      
+
+  <joint name="thumb_j3" type="revolute">
+    <origin xyz="0.047 0 0" rpy="0 0 0" />
+    <parent link="thumb_l2" />
+    <child link="thumb_l3" />
+    <axis xyz="0 0 1" />
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="thumb_j2" multiplier="1" offset="1.57" />      
-  </joint>    
-    
+    <mimic joint="thumb_j2" multiplier="1" offset="1.57" />
+  </joint>
+
 <transmission name="thumb1_transmission">    
         <type>transmission_interface/SimpleTransmission</type>    
         <joint name="thumb_j1">    
@@ -797,5 +799,6 @@
        <controlPeriod>0.001</controlPeriod>    
        <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>    
     </plugin>    
-</gazebo>      
+</gazebo>
+
 </robot>