Alterações em miitzhand_description.

diff --git a/miitzhand_description/meshes/base_link.stl b/miitzhand_description/meshes/base_link.stl
index aa9695c..8036fb7 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 21c4983..629c7c2 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 7054fbf..656a38c 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 e04f316..9f04324 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/little_l1.stl b/miitzhand_description/meshes/little_l1.stl
index b5d88fd..b5a11db 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 43dcdc8..01f2dc3 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 b0ab18c..6bdffef 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 30ceed4..e02e3a8 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 be40491..6e12fe1 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 a0d3ec8..61e652c 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 a5da6fa..2390581 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 41e9114..297a760 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 a03f2c7..5a40222 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_l1.stl b/miitzhand_description/meshes/thumb_l1.stl
index 423cbeb..0477609 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/meshes/thumb_l2.stl b/miitzhand_description/meshes/thumb_l2.stl
index a1c8341..ad855fa 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/meshes/thumb_l3.stl b/miitzhand_description/meshes/thumb_l3.stl
index 9b1d66c..eed3b46 100644 (file)
Binary files a/miitzhand_description/meshes/thumb_l3.stl and b/miitzhand_description/meshes/thumb_l3.stl differ

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 1decc33..876b16d 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -1,1201 +1,1191 @@
-<robot
-  name="miitzhand">
-<link 
-  name="world"/> 
-  <link
-    name="origin_link"/>
-   <joint name="world" type="fixed" >
-               <parent link="world"/>
-               <child link="origin_link"/>
-       </joint>
-<link
-    name="base_link">
-    <inertial>
-      <origin
-        xyz="-0.00037528 0.0019284 0.070349"
-        rpy="-1.57 0 -1.57" />
-      <mass
-        value="0.16469" />
-      <inertia
-        ixx="0.0002481"
-        ixy="-3.8181E-06"
-        ixz="1.5344E-06"
-        iyy="0.00015717"
-        iyz="-1.4443E-06"
-        izz="0.00010769" />
-    </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="origin_joint" type="fixed" >
-       <!--<origin
-               xyz="0 0 0"
-               rpy="0 0 0" />-->
-       <parent link="origin_link"/>
-       <child link="base_link"/>
-       <!--<axis
-               xyz="0 0 -1"/>
-     <limit
-      lower="0"
-      upper="0"
-      effort="30"
-      velocity="2" />-->       
-</joint>
-  <link
-    name="little_l1">
-    <inertial>
-      <origin
-        xyz="0.02162 0.00021661 8.9881E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0096962" />
-      <inertia
-        ixx="4.6379E-07"
-        ixy="5.6617E-08"
-        ixz="1.4317E-11"
-        iyy="2.4105E-06"
-        iyz="4.7052E-11"
-        izz="2.3836E-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="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-  </joint>
-  <link
-    name="little_l2">
-    <inertial>
-      <origin
-        xyz="0.010872 0.00039673 4.8455E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052657" />
-      <inertia
-        ixx="2.3451E-07"
-        ixy="2.5431E-08"
-        ixz="-2.2276E-11"
-        iyy="6.3027E-07"
-        iyz="2.6274E-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="-7.893E-17 2.7756E-16 0.0021314" />
-    <parent
-      link="little_l1" />
-    <child
-      link="little_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-      <mimic joint="little_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="little_l3">
-    <inertial>
-      <origin
-        xyz="0.0099715 0.00045398 1.7079E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.7179E-07"
-        ixy="2.5186E-08"
-        ixz="7.583E-12"
-        iyy="4.632E-07"
-        iyz="-6.3876E-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="2.5847E-16 -9.7145E-17 0.062159" />
-    <parent
-      link="little_l2" />
-    <child
-      link="little_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-      <mimic joint="little_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="ring_l1">
-    <inertial>
-      <origin
-        xyz="0.02162 0.00021662 2.961E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0096962" />
-      <inertia
-        ixx="4.6379E-07"
-        ixy="5.6617E-08"
-        ixz="1.3932E-11"
-        iyy="2.4105E-06"
-        iyz="4.7182E-11"
-        izz="2.3836E-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="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-  </joint>
-  <link
-    name="ring_l2">
-    <inertial>
-      <origin
-        xyz="0.010872 0.00039673 3.3296E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052657" />
-      <inertia
-        ixx="2.3451E-07"
-        ixy="2.5431E-08"
-        ixz="-2.1855E-11"
-        iyy="6.3027E-07"
-        iyz="2.624E-10"
-        izz="6.1275E-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="6.2016E-17 -9.7145E-17 -0.04204" />
-    <parent
-      link="ring_l1" />
-    <child
-      link="ring_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-      <mimic joint="ring_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="ring_l3">
-    <inertial>
-      <origin
-        xyz="0.0099715 0.00045398 2.1131E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.7179E-07"
-        ixy="2.5186E-08"
-        ixz="7.5284E-12"
-        iyy="4.632E-07"
-        iyz="-6.3755E-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="4.9006E-17 -7.6328E-17 0.052588" />
-    <parent
-      link="ring_l2" />
-    <child
-      link="ring_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-      <mimic joint="ring_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="middle_l1">
-    <inertial>
-      <origin
-        xyz="0.02162 0.00021663 2.3898E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0096962" />
-      <inertia
-        ixx="4.6379E-07"
-        ixy="5.6616E-08"
-        ixz="1.3411E-11"
-        iyy="2.4105E-06"
-        iyz="4.7346E-11"
-        izz="2.3836E-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="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-  </joint>
-  <link
-    name="middle_l2">
-    <inertial>
-      <origin
-        xyz="0.010872 0.00039803 4.914E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052659" />
-      <inertia
-        ixx="2.345E-07"
-        ixy="2.537E-08"
-        ixz="4.1403E-11"
-        iyy="6.303E-07"
-        iyz="1.1335E-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="-1.5568E-17 -9.0667E-17 -0.092983" />
-    <parent
-      link="middle_l1" />
-    <child
-      link="middle_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-      <mimic joint="middle_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="middle_l3">
-    <inertial>
-      <origin
-        xyz="0.0099715 0.00045399 -1.645E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.7179E-07"
-        ixy="2.5186E-08"
-        ixz="7.6266E-12"
-        iyy="4.632E-07"
-        iyz="-6.3733E-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="-5.6412E-20 -9.6624E-18 -0.0065785" />
-    <parent
-      link="middle_l2" />
-    <child
-      link="middle_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-      <mimic joint="middle_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="index_l1">
-    <inertial>
-      <origin
-        xyz="0.02162 0.00021663 9.5195E-08"
-        rpy="0 0 0" />
-      <mass
-        value="0.0096962" />
-      <inertia
-        ixx="4.6379E-07"
-        ixy="5.6616E-08"
-        ixz="1.3332E-11"
-        iyy="2.4105E-06"
-        iyz="4.744E-11"
-        izz="2.3836E-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="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-  </joint>
-  <link
-    name="index_l2">
-    <inertial>
-      <origin
-        xyz="0.010872 0.000397 2.393E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052656" />
-      <inertia
-        ixx="2.345E-07"
-        ixy="2.5427E-08"
-        ixz="-2.4047E-11"
-        iyy="6.3027E-07"
-        iyz="2.5193E-10"
-        izz="6.1273E-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="2.6728E-15 1.8492E-15 -0.012461" />
-    <parent
-      link="index_l1" />
-    <child
-      link="index_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-      <mimic joint="index_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="index_l3">
-    <inertial>
-      <origin
-        xyz="0.0099715 0.000454 7.9673E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.7179E-07"
-        ixy="2.5186E-08"
-        ixz="7.6708E-12"
-        iyy="4.632E-07"
-        iyz="-6.3774E-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="-3.372E-15 -9.194E-16 -0.062827" />
-    <parent
-      link="index_l2" />
-    <child
-      link="index_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-      <mimic joint="index_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="thumb_l1">
-    <inertial>
-      <origin
-        xyz="2.3326E-09 0.019805 -0.021977"
-        rpy="0 0 0" />
-      <mass
-        value="0.009042" />
-      <inertia
-        ixx="1.6603E-06"
-        ixy="2.5778E-13"
-        ixz="-4.8917E-14"
-        iyy="7.4098E-07"
-        iyz="-3.6039E-07"
-        izz="1.3315E-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="-0.00033603 -0.044407 0.077634"
-      rpy="-0.51406 0.10426 -2.9593" />
-    <parent
-      link="base_link" />
-    <child
-      link="thumb_l1" />
-    <axis
-      xyz="0 0 1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-  </joint>
-  <link
-    name="thumb_l2">
-    <inertial>
-      <origin
-        xyz="0.02162 0.00021662 -7.7087E-07"
-        rpy="0 0 0" />
-      <mass
-        value="0.0096962" />
-      <inertia
-        ixx="4.6379E-07"
-        ixy="5.6616E-08"
-        ixz="1.3735E-11"
-        iyy="2.4105E-06"
-        iyz="4.7417E-11"
-        izz="2.3836E-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 0.029913 -0.0052745"
-      rpy="-3.0088 -1.3947 1.4359" />
-    <parent
-      link="thumb_l1" />
-    <child
-      link="thumb_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-  </joint>
-  <link
-    name="thumb_l3">
-    <inertial>
-      <origin
-        xyz="0.0099715 0.00045399 -1.4398E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.004997" />
-      <inertia
-        ixx="1.7179E-07"
-        ixy="2.5185E-08"
-        ixz="7.7223E-12"
-        iyy="4.632E-07"
-        iyz="-6.3228E-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="-3.6082E-16 5.5511E-17 0.031398" />
-    <parent
-      link="thumb_l2" />
-    <child
-      link="thumb_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="30"
-      velocity="2" />
-      <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</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</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</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</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</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</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</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</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</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</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</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</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</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</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</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="0.02191 -0.00087244 8.9868E-05"\r
+        rpy="0 0 0" />\r
+      <mass\r
+        value="0.010346" />\r
+      <inertia\r
+        ixx="4.7843E-07"\r
+        ixy="1.5466E-07"\r
+        ixz="1.706E-11"\r
+        iyy="2.4518E-06"\r
+        iyz="4.6456E-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="0.0030031 0.04071 0.11976"\r
+      rpy="-0.53727 -1.4692 2.0753" />\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="0.010817 -0.0024647 4.7668E-06"\r
+        rpy="0 0 0" />\r
+      <mass\r
+        value="0.0052657" />\r
+      <inertia\r
+        ixx="2.3814E-07"\r
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+    <visual>\r
+      <origin\r
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+        rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh\r
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+          rgba="1 1 1 1" />\r
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+        rpy="0 0 0" />\r
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+        rpy="0 0 0" />\r
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+        rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh\r
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+      </geometry>\r
+      <material\r
+        name="">\r
+        <color\r
+          rgba="1 1 1 1" />\r
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+        rpy="0 0 0" />\r
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+        <mesh\r
+          filename="package://miitzhand_description/meshes/little_l3.stl" />\r
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+      effort="0.37"\r
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+        rpy="0 0 0" />\r
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+        rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh\r
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+      <material\r
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+        <color\r
+          rgba="1 1 1 1" />\r
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+        rpy="0 0 0" />\r
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+      upper="0"\r
+      effort="0.37"\r
+      velocity="5.61" />\r
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+    <visual>\r
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+        rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh\r
+          filename="package://miitzhand_description/meshes/ring_l2.stl" />\r
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+      <material\r
+        name="">\r
+        <color\r
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+        rpy="0 0 0" />\r
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+        <mesh\r
+          filename="package://miitzhand_description/meshes/ring_l2.stl" />\r
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+  </link>\r
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+      effort="0.37"\r
+      velocity="5.61" />\r
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+        rpy="0 0 0" />\r
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+        rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh\r
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+      <material\r
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+      rpy="3.1268E-16 -1.7347E-16 0.052588" />\r
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+      effort="0.37"\r
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+        rpy="0 0 0" />\r
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+        rpy="0 0 0" />\r
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+        <mesh\r
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+      <material\r
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+      effort="0.37"\r
+      velocity="5.61" />\r
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+        rpy="0 0 0" />\r
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+      <material\r
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+      effort="0.37"\r
+      velocity="5.61" />\r
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+        rpy="0 0 0" />\r
+      <geometry>\r
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+      <material\r
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+        <color\r
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+        rpy="0 0 0" />\r
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+        <mesh\r
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+      <material\r
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+      <material\r
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+  </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 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="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 -4.8418E-15" />\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