Alterações nos sistemas de coordenadas.

diff --git a/miitzhand_description/meshes/base_link.stl b/miitzhand_description/meshes/base_link.stl
index 8036fb7..ae8c7af 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_l1.stl b/miitzhand_description/meshes/index_l1.stl
index 629c7c2..0bb429e 100644 (file)
Binary files a/miitzhand_description/meshes/index_l1.stl and b/miitzhand_description/meshes/index_l1.stl differ

diff --git a/miitzhand_description/meshes/index_l2.stl b/miitzhand_description/meshes/index_l2.stl
index 656a38c..be7ea32 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 9f04324..4d98665 100644 (file)
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diff --git a/miitzhand_description/meshes/little_l1.stl b/miitzhand_description/meshes/little_l1.stl
index b5a11db..7fce9f0 100644 (file)
Binary files a/miitzhand_description/meshes/little_l1.stl and b/miitzhand_description/meshes/little_l1.stl differ

diff --git a/miitzhand_description/meshes/little_l2.stl b/miitzhand_description/meshes/little_l2.stl
index 01f2dc3..219839a 100644 (file)
Binary files a/miitzhand_description/meshes/little_l2.stl and b/miitzhand_description/meshes/little_l2.stl differ

diff --git a/miitzhand_description/meshes/little_l3.stl b/miitzhand_description/meshes/little_l3.stl
index 6bdffef..f1dc236 100644 (file)
Binary files a/miitzhand_description/meshes/little_l3.stl and b/miitzhand_description/meshes/little_l3.stl differ

diff --git a/miitzhand_description/meshes/middle_l1.stl b/miitzhand_description/meshes/middle_l1.stl
index e02e3a8..5bcf7cc 100644 (file)
Binary files a/miitzhand_description/meshes/middle_l1.stl and b/miitzhand_description/meshes/middle_l1.stl differ

diff --git a/miitzhand_description/meshes/middle_l2.stl b/miitzhand_description/meshes/middle_l2.stl
index 6e12fe1..149859f 100644 (file)
Binary files a/miitzhand_description/meshes/middle_l2.stl and b/miitzhand_description/meshes/middle_l2.stl differ

diff --git a/miitzhand_description/meshes/middle_l3.stl b/miitzhand_description/meshes/middle_l3.stl
index 61e652c..c96b2ce 100644 (file)
Binary files a/miitzhand_description/meshes/middle_l3.stl and b/miitzhand_description/meshes/middle_l3.stl differ

diff --git a/miitzhand_description/meshes/ring_l1.stl b/miitzhand_description/meshes/ring_l1.stl
index 2390581..47d9ad8 100644 (file)
Binary files a/miitzhand_description/meshes/ring_l1.stl and b/miitzhand_description/meshes/ring_l1.stl differ

diff --git a/miitzhand_description/meshes/ring_l2.stl b/miitzhand_description/meshes/ring_l2.stl
index 297a760..c311898 100644 (file)
Binary files a/miitzhand_description/meshes/ring_l2.stl and b/miitzhand_description/meshes/ring_l2.stl differ

diff --git a/miitzhand_description/meshes/ring_l3.stl b/miitzhand_description/meshes/ring_l3.stl
index 5a40222..8bffb96 100644 (file)
Binary files a/miitzhand_description/meshes/ring_l3.stl and b/miitzhand_description/meshes/ring_l3.stl differ

diff --git a/miitzhand_description/meshes/thumb_l2.stl b/miitzhand_description/meshes/thumb_l2.stl
index ad855fa..764a53e 100644 (file)
Binary files a/miitzhand_description/meshes/thumb_l2.stl and b/miitzhand_description/meshes/thumb_l2.stl differ

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 7f7a5fd..5fef982 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -1,1191 +1,1191 @@
-<robot
-  name="miitzhand">
-<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" >
-       <parent link="origin_link"/>
-       <child link="base_link"/>       
-</joint>
-  <link
-    name="little_l1">
-    <inertial>
-      <origin
-        xyz="0.02191 -0.00087244 8.9868E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.010346" />
-      <inertia
-        ixx="4.7843E-07"
-        ixy="1.5466E-07"
-        ixz="1.706E-11"
-        iyy="2.4518E-06"
-        iyz="4.6456E-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="0.0030031 0.04071 0.11976"
-      rpy="-0.53727 -1.4692 2.0753" />
-    <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="0.010817 -0.0024647 4.7668E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052657" />
-      <inertia
-        ixx="2.3814E-07"
-        ixy="4.5521E-08"
-        ixz="-8.3876E-12"
-        iyy="6.2663E-07"
-        iyz="2.6126E-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 8.7389E-05"
-      rpy="1.9082E-16 -1.8041E-16 0.0021314" />
-    <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="0.0096346 -0.0043345 1.7082E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.8118E-07"
-        ixy="5.729E-08"
-        ixz="3.6348E-13"
-        iyy="4.5381E-07"
-        iyz="-6.4309E-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>
-    </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 -1.4947E-05"
-      rpy="7.4593E-17 -9.7145E-17 0.062159" />
-    <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="little_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="ring_l1">
-    <inertial>
-      <origin
-        xyz="0.021843 -0.0019146 2.9598E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.010346" />
-      <inertia
-        ixx="4.9761E-07"
-        ixy="2.4781E-07"
-        ixz="1.8803E-11"
-        iyy="2.4327E-06"
-        iyz="4.5721E-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="-0.003 0.017746 0.12886"
-      rpy="-1.2237 -1.468 2.7962" />
-    <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="0.010849 -0.0047389 3.1967E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052659" />
-      <inertia
-        ixx="2.3845E-07"
-        ixy="4.6802E-08"
-        ixz="4.7745E-11"
-        iyy="6.2635E-07"
-        iyz="1.1426E-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="-3.8229E-16 1.3461E-15 -0.04204" />
-    <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="ring_l3">
-    <inertial>
-      <origin
-        xyz="0.009579 -0.0066047 2.1133E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.8049E-07"
-        ixy="5.5619E-08"
-        ixz="7.3564E-13"
-        iyy="4.545E-07"
-        iyz="-6.4212E-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="3.1268E-16 -1.7347E-16 0.052588" />
-    <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="0.021837 -0.0019855 2.3889E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.010346" />
-      <inertia
-        ixx="4.9924E-07"
-        ixy="2.5408E-07"
-        ixz="1.8598E-11"
-        iyy="2.431E-06"
-        iyz="4.5809E-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="-0.0030015 -0.0069762 0.1285"
-      rpy="-1.5708 -1.4709 -3.0805" />
-    <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="0.011077 -0.004368 4.8908E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052658" />
-      <inertia
-        ixx="2.3488E-07"
-        ixy="2.8117E-08"
-        ixz="4.1349E-11"
-        iyy="6.2993E-07"
-        iyz="1.1302E-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>
-    <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 2E-05"
-      rpy="1.0327E-16 -5.9896E-17 -0.092983" />
-    <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" />
-  </joint>
-  <link
-    name="middle_l3">
-    <inertial>
-      <origin
-        xyz="0.010205 -0.0044243 -1.6449E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.7181E-07"
-        ixy="2.5294E-08"
-        ixz="7.5687E-12"
-        iyy="4.6318E-07"
-        iyz="-6.3735E-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>
-  </link>
-  <joint
-    name="middle_j3"
-    type="revolute">
-    <origin
-      xyz="0.0267 0 2E-05"
-      rpy="2.706E-16 -1.6909E-16 -0.0065785" />
-    <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" />
-  </joint>
-  <link
-    name="index_l1">
-    <inertial>
-      <origin
-        xyz="0.021895 -0.0011835 8.9303E-08"
-        rpy="0 0 0" />
-      <mass
-        value="0.010346" />
-      <inertia
-        ixx="4.8322E-07"
-        ixy="1.8262E-07"
-        ixz="1.6588E-11"
-        iyy="2.447E-06"
-        iyz="4.648E-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="-1.8319 -1.5035 -2.7796" />
-    <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="0.010822 -0.0031266 1.071E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052658" />
-      <inertia
-        ixx="2.381E-07"
-        ixy="4.5311E-08"
-        ixz="4.5623E-11"
-        iyy="6.267E-07"
-        iyz="1.0837E-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="1.7683E-16 -2.7756E-17 -0.012461" />
-    <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="0.010146 -0.0037511 7.9672E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.7123E-07"
-        ixy="2.1673E-08"
-        ixz="8.37E-12"
-        iyy="4.6376E-07"
-        iyz="-6.3642E-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 -7.9919E-05"
-      rpy="1.0595E-15 -1.7243E-15 -0.062827" />
-    <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" />
-  </joint>
-  <link
-    name="thumb_l1">
-    <inertial>
-      <origin
-        xyz="-3.4971E-16 0.021473 -0.015879"
-        rpy="0 0 0" />
-      <mass
-        value="0.0091302" />
-      <inertia
-        ixx="1.8031E-06"
-        ixy="4.0034E-14"
-        ixz="4.2116E-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 -6.796E-15 -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>
-  <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>
-  </link>
-  <joint
-    name="thumb_j2"
-    type="revolute">
-    <origin
-      xyz="0 0.03 0"
-      rpy="1.5708 -1.5708 0" />
-    <parent
-      link="thumb_l1" />
-    <child
-      link="thumb_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      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>
-  </link>
-  <joint
-    name="thumb_j3"
-    type="revolute">
-    <origin
-      xyz="0.047 0 0"
-      rpy="1.9249E-05 -1.4988E-15 -4.8418E-15" />
-    <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="0" />
-  </joint>
-
-<transmission name="thumb1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="thumb_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="thumb1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="thumb2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="thumb_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="thumb2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="thumb3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="thumb_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="thumb3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-       <joint>thumb_j3</joint>
-       <mimicJoint>thumb_j2</mimicJoint>
-       <multiplier>1.0</multiplier>
-       <offset>0.0</offset>
-       <maxEffort>30.0</maxEffort>
-       <sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="index1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="index_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="index1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="index2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="index_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="index2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-       <joint>index_j2</joint>
-       <mimicJoint>index_j1</mimicJoint>
-       <multiplier>1.0</multiplier>
-       <offset>0.0</offset>
-       <maxEffort>30.0</maxEffort>
-       <sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="index3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="index_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="index3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-       <joint>index_j3</joint>
-       <mimicJoint>index_j1</mimicJoint>
-       <multiplier>1.0</multiplier>
-       <offset>0.0</offset>
-       <maxEffort>30.0</maxEffort>
-       <sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="middle1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="middle_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="middle1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="middle2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="middle_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="middle2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-       <joint>middle_j2</joint>
-       <mimicJoint>middle_j1</mimicJoint>
-       <multiplier>1.0</multiplier>
-       <offset>0.0</offset>
-       <maxEffort>30.0</maxEffort>
-       <sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="middle3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="middle_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="middle3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-       <joint>middle_j3</joint>
-       <mimicJoint>middle_j1</mimicJoint>
-       <multiplier>1.0</multiplier>
-       <offset>0.0</offset>
-       <maxEffort>30.0</maxEffort>
-       <sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="ring1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="ring_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="ring1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="ring2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="ring_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="ring2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-       <joint>ring_j2</joint>
-       <mimicJoint>ring_j1</mimicJoint>
-       <multiplier>1.0</multiplier>
-       <offset>0.0</offset>
-       <maxEffort>30.0</maxEffort>
-       <sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="ring3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="ring_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="ring3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-       <joint>ring_j3</joint>
-       <mimicJoint>ring_j1</mimicJoint>
-       <multiplier>1.0</multiplier>
-       <offset>0.0</offset>
-       <maxEffort>30.0</maxEffort>
-       <sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="little1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="little_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="little1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="little2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="little_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="little2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-       <joint>little_j2</joint>
-       <mimicJoint>little_j1</mimicJoint>
-       <multiplier>1.0</multiplier>
-       <offset>0.0</offset>
-       <maxEffort>30.0</maxEffort>
-       <sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="little3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="little_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="little3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-       <joint>little_j3</joint>
-       <mimicJoint>little_j1</mimicJoint>
-       <multiplier>1.0</multiplier>
-       <offset>0.0</offset>
-       <maxEffort>30.0</maxEffort>
-       <sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<gazebo>
-    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-       <robotNamespace>/miitzhand</robotNamespace>
-       <controlPeriod>0.001</controlPeriod>
-       <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
-    </plugin>
-</gazebo>
-</robot>
+<robot      \r
+  name="miitzhand">    \r
+<link     \r
+  name="world"/>     \r
+  <link    \r
+    name="origin_link"/>    \r
+   <joint name="origin_joint" type="fixed" >    \r
+               <parent link="world"/>    \r
+               <child link="origin_link"/>    \r
+       </joint>      \r
+  <link      \r
+    name="base_link">      \r
+    <inertial>      \r
+      <origin      \r
+        xyz="-0.00037433 0.0019683 0.070254"      \r
+        rpy="0 0 0" />      \r
+      <mass      \r
+        value="0.16419" />      \r
+      <inertia      \r
+        ixx="0.00024692"      \r
+        ixy="-3.8095E-06"      \r
+        ixz="1.5276E-06"      \r
+        iyy="0.00015647"      \r
+        iyz="-1.4218E-06"      \r
+        izz="0.00010717" />      \r
+    </inertial>      \r
+    <visual>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/base_link.stl" />      \r
+      </geometry>      \r
+      <material      \r
+        name="">      \r
+        <color      \r
+          rgba="1 1 1 1" />      \r
+      </material>      \r
+    </visual>      \r
+    <collision>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/base_link.stl" />      \r
+      </geometry>      \r
+    </collision>      \r
+  </link>    \r
+<joint name="base_joint" type="fixed" >    \r
+       <parent link="origin_link"/>    \r
+       <child link="base_link"/>           \r
+</joint>      \r
+  <link      \r
+    name="little_l1">      \r
+    <inertial>      \r
+      <origin      \r
+        xyz="0.021926 0.00020302 9.6353E-08"      \r
+        rpy="0 0 0" />      \r
+      <mass      \r
+        value="0.010346" />      \r
+      <inertia      \r
+        ixx="4.6802E-07"      \r
+        ixy="5.726E-08"      \r
+        ixz="1.4761E-11"      \r
+        iyy="2.4622E-06"      \r
+        iyz="4.7237E-11"      \r
+        izz="2.4327E-06" />      \r
+    </inertial>      \r
+    <visual>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/little_l1.stl" />      \r
+      </geometry>      \r
+      <material      \r
+        name="">      \r
+        <color      \r
+          rgba="1 1 1 1" />      \r
+      </material>      \r
+    </visual>      \r
+    <collision>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/little_l1.stl" />      \r
+      </geometry>      \r
+    </collision>      \r
+  </link>      \r
+  <joint      \r
+    name="little_j1"      \r
+    type="revolute">      \r
+    <origin      \r
+      xyz="0.003 0.04062 0.11977"      \r
+      rpy="-0.034907 -1.4835 1.5708" />      \r
+    <parent      \r
+      link="base_link" />      \r
+    <child      \r
+      link="little_l1" />      \r
+    <axis      \r
+      xyz="0 0 -1" />      \r
+    <limit      \r
+      lower="-1.57"      \r
+      upper="0"      \r
+      effort="0.37"      \r
+      velocity="5.61" />      \r
+  </joint>      \r
+  <link      \r
+    name="little_l2">      \r
+    <inertial>      \r
+      <origin      \r
+        xyz="0.010872 0.00039672 4.7668E-06"      \r
+        rpy="0 0 0" />      \r
+      <mass      \r
+        value="0.0052657" />      \r
+      <inertia      \r
+        ixx="2.3451E-07"      \r
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+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/index_l3.stl" />      \r
+      </geometry>      \r
+    </collision>      \r
+  </link>      \r
+  <joint      \r
+    name="index_j3"      \r
+    type="revolute">      \r
+    <origin      \r
+      xyz="0.0267 0 0"      \r
+      rpy="9.9799E-16 3.4694E-18 -2.1684E-19" />      \r
+    <parent      \r
+      link="index_l2" />      \r
+    <child      \r
+      link="index_l3" />      \r
+    <axis      \r
+      xyz="0 0 -1" />      \r
+    <limit      \r
+      lower="-1.57"      \r
+      upper="0"      \r
+      effort="0.37"      \r
+      velocity="5.61" />    \r
+    <mimic joint="index_j1" multiplier="1" offset="0" />      \r
+  </joint>      \r
+  <link      \r
+    name="thumb_l1">      \r
+    <inertial>      \r
+      <origin      \r
+        xyz="-3.496E-16 0.021473 -0.015879"      \r
+        rpy="0 0 0" />      \r
+      <mass      \r
+        value="0.0091302" />      \r
+      <inertia      \r
+        ixx="1.8031E-06"      \r
+        ixy="4.0034E-14"      \r
+        ixz="4.2008E-21"      \r
+        iyy="6.4629E-07"      \r
+        iyz="-2.8188E-07"      \r
+        izz="1.5763E-06" />      \r
+    </inertial>      \r
+    <visual>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/thumb_l1.stl" />      \r
+      </geometry>      \r
+      <material      \r
+        name="">      \r
+        <color      \r
+          rgba="1 1 1 1" />      \r
+      </material>      \r
+    </visual>      \r
+    <collision>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/thumb_l1.stl" />      \r
+      </geometry>      \r
+    </collision>      \r
+  </link>      \r
+  <joint      \r
+    name="thumb_j1"      \r
+    type="revolute">      \r
+    <origin      \r
+      xyz="-0.00034464 -0.043575 0.070929"      \r
+      rpy="-0.69813 -6.796E-15 -3.1416" />      \r
+    <parent      \r
+      link="base_link" />      \r
+    <child      \r
+      link="thumb_l1" />      \r
+    <axis      \r
+      xyz="0 0 1" />      \r
+    <limit      \r
+      lower="0"      \r
+      upper="1.57"      \r
+      effort="0.37"      \r
+      velocity="5.61" />      \r
+  </joint>      \r
+  <link      \r
+    name="thumb_l2">      \r
+    <inertial>      \r
+      <origin      \r
+        xyz="0.021926 0.00020302 9.7353E-08"      \r
+        rpy="0 0 0" />      \r
+      <mass      \r
+        value="0.010346" />      \r
+      <inertia      \r
+        ixx="4.6802E-07"      \r
+        ixy="5.726E-08"      \r
+        ixz="1.5393E-11"      \r
+        iyy="2.4622E-06"      \r
+        iyz="4.7897E-11"      \r
+        izz="2.4327E-06" />      \r
+    </inertial>      \r
+    <visual>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/thumb_l2.stl" />      \r
+      </geometry>      \r
+      <material      \r
+        name="">      \r
+        <color      \r
+          rgba="1 1 1 1" />      \r
+      </material>      \r
+    </visual>      \r
+    <collision>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/thumb_l2.stl" />      \r
+      </geometry>      \r
+    </collision>      \r
+  </link>      \r
+  <joint      \r
+    name="thumb_j2"      \r
+    type="revolute">      \r
+    <origin      \r
+      xyz="0 0.03 0"      \r
+      rpy="1.5708 -1.5708 0" />      \r
+    <parent      \r
+      link="thumb_l1" />      \r
+    <child      \r
+      link="thumb_l2" />      \r
+    <axis      \r
+      xyz="0 1.9249E-05 -1" />      \r
+    <limit      \r
+      lower="-1.57"      \r
+      upper="0"      \r
+      effort="0.37"      \r
+      velocity="5.61" />      \r
+  </joint>      \r
+  <link      \r
+    name="thumb_l3">      \r
+    <inertial>      \r
+      <origin      \r
+        xyz="0.0099715 0.00045398 -2.5524E-07"      \r
+        rpy="0 0 0" />      \r
+      <mass      \r
+        value="0.004997" />      \r
+      <inertia      \r
+        ixx="1.7179E-07"      \r
+        ixy="2.5186E-08"      \r
+        ixz="7.6937E-12"      \r
+        iyy="4.632E-07"      \r
+        iyz="-6.3833E-11"      \r
+        izz="4.9237E-07" />      \r
+    </inertial>      \r
+    <visual>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/thumb_l3.stl" />      \r
+      </geometry>      \r
+      <material      \r
+        name="">      \r
+        <color      \r
+          rgba="1 1 1 1" />      \r
+      </material>      \r
+    </visual>      \r
+    <collision>      \r
+      <origin      \r
+        xyz="0 0 0"      \r
+        rpy="0 0 0" />      \r
+      <geometry>      \r
+        <mesh      \r
+          filename="package://miitzhand_description/meshes/thumb_l3.stl" />      \r
+      </geometry>      \r
+    </collision>      \r
+  </link>      \r
+  <joint      \r
+    name="thumb_j3"      \r
+    type="revolute">      \r
+    <origin      \r
+      xyz="0.047 0 0"      \r
+      rpy="1.9249E-05 -1.4988E-15 -1.2849E-14" />      \r
+    <parent      \r
+      link="thumb_l2" />      \r
+    <child      \r
+      link="thumb_l3" />      \r
+    <axis      \r
+      xyz="0 0 -1" />      \r
+    <limit      \r
+      lower="-1.57"      \r
+      upper="0"      \r
+      effort="0.37"      \r
+      velocity="5.61" />    \r
+    <mimic joint="thumb_j2" multiplier="1" offset="0" />      \r
+  </joint>    \r
+    \r
+<transmission name="thumb1_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="thumb_j1">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="thumb1_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<transmission name="thumb2_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="thumb_j2">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="thumb2_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<transmission name="thumb3_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="thumb_j3">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="thumb3_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<gazebo>    \r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">    \r
+       <joint>thumb_j3</joint>    \r
+       <mimicJoint>thumb_j2</mimicJoint>    \r
+       <multiplier>1.0</multiplier>    \r
+       <offset>0.0</offset>    \r
+       <maxEffort>30.0</maxEffort>    \r
+       <sensitiveness>0.0</sensitiveness>    \r
+  </plugin>    \r
+</gazebo>    \r
+    \r
+<transmission name="index1_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="index_j1">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="index1_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<transmission name="index2_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="index_j2">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="index2_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<gazebo>    \r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">    \r
+       <joint>index_j2</joint>    \r
+       <mimicJoint>index_j1</mimicJoint>    \r
+       <multiplier>1.0</multiplier>    \r
+       <offset>0.0</offset>    \r
+       <maxEffort>30.0</maxEffort>    \r
+       <sensitiveness>0.0</sensitiveness>    \r
+  </plugin>    \r
+</gazebo>    \r
+    \r
+<transmission name="index3_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="index_j3">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="index3_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<gazebo>    \r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">    \r
+       <joint>index_j3</joint>    \r
+       <mimicJoint>index_j1</mimicJoint>    \r
+       <multiplier>1.0</multiplier>    \r
+       <offset>0.0</offset>    \r
+       <maxEffort>30.0</maxEffort>    \r
+       <sensitiveness>0.0</sensitiveness>    \r
+  </plugin>    \r
+</gazebo>    \r
+    \r
+<transmission name="middle1_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="middle_j1">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="middle1_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<transmission name="middle2_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="middle_j2">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="middle2_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<gazebo>    \r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">    \r
+       <joint>middle_j2</joint>    \r
+       <mimicJoint>middle_j1</mimicJoint>    \r
+       <multiplier>1.0</multiplier>    \r
+       <offset>0.0</offset>    \r
+       <maxEffort>30.0</maxEffort>    \r
+       <sensitiveness>0.0</sensitiveness>    \r
+  </plugin>    \r
+</gazebo>    \r
+    \r
+<transmission name="middle3_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="middle_j3">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="middle3_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<gazebo>    \r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">    \r
+       <joint>middle_j3</joint>    \r
+       <mimicJoint>middle_j1</mimicJoint>    \r
+       <multiplier>1.0</multiplier>    \r
+       <offset>0.0</offset>    \r
+       <maxEffort>30.0</maxEffort>    \r
+       <sensitiveness>0.0</sensitiveness>    \r
+  </plugin>    \r
+</gazebo>    \r
+    \r
+<transmission name="ring1_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="ring_j1">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="ring1_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<transmission name="ring2_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="ring_j2">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="ring2_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<gazebo>    \r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">    \r
+       <joint>ring_j2</joint>    \r
+       <mimicJoint>ring_j1</mimicJoint>    \r
+       <multiplier>1.0</multiplier>    \r
+       <offset>0.0</offset>    \r
+       <maxEffort>30.0</maxEffort>    \r
+       <sensitiveness>0.0</sensitiveness>    \r
+  </plugin>    \r
+</gazebo>    \r
+    \r
+<transmission name="ring3_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="ring_j3">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="ring3_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<gazebo>    \r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">    \r
+       <joint>ring_j3</joint>    \r
+       <mimicJoint>ring_j1</mimicJoint>    \r
+       <multiplier>1.0</multiplier>    \r
+       <offset>0.0</offset>    \r
+       <maxEffort>30.0</maxEffort>    \r
+       <sensitiveness>0.0</sensitiveness>    \r
+  </plugin>    \r
+</gazebo>    \r
+    \r
+<transmission name="little1_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="little_j1">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="little1_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<transmission name="little2_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="little_j2">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="little2_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<gazebo>    \r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">    \r
+       <joint>little_j2</joint>    \r
+       <mimicJoint>little_j1</mimicJoint>    \r
+       <multiplier>1.0</multiplier>    \r
+       <offset>0.0</offset>    \r
+       <maxEffort>30.0</maxEffort>    \r
+       <sensitiveness>0.0</sensitiveness>    \r
+  </plugin>    \r
+</gazebo>    \r
+    \r
+<transmission name="little3_transmission">    \r
+        <type>transmission_interface/SimpleTransmission</type>    \r
+        <joint name="little_j3">    \r
+                <hardwareInterface>EffortJointInterface</hardwareInterface>    \r
+        </joint>    \r
+        <actuator name="little3_motor">    \r
+                <mechanicalReduction>1.87</mechanicalReduction>    \r
+        </actuator>    \r
+</transmission>    \r
+    \r
+<gazebo>    \r
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">    \r
+       <joint>little_j3</joint>    \r
+       <mimicJoint>little_j1</mimicJoint>    \r
+       <multiplier>1.0</multiplier>    \r
+       <offset>0.0</offset>    \r
+       <maxEffort>30.0</maxEffort>    \r
+       <sensitiveness>0.0</sensitiveness>    \r
+  </plugin>    \r
+</gazebo>    \r
+    \r
+<gazebo>    \r
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">    \r
+       <robotNamespace>/miitzhand</robotNamespace>    \r
+       <controlPeriod>0.001</controlPeriod>    \r
+       <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>    \r
+    </plugin>    \r
+</gazebo>      \r
+</robot>\r