From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Wed, 6 Feb 2019 04:29:44 +0000 (-0200)
Subject: Alterações URDF.
X-Git-Tag: sbai2019submitted~20
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=f9b4f3946ed47a7e15e625a55013d3ac8621b677;p=users%2Fgschmitz%2Fmiitzhand.git

Alterações URDF.
---

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 929807d..e8a822c 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -1,934 +1,544 @@
-<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">      
+<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>      
+      <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" />      
+      <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>      
+    </visual> 
+     
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
+      <origin xyz="0 0 0" rpy="0 0 0" />           
       <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/base_link.stl" />      
+        <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">      
+    </collision>    
+  </link>
+    
+  <joint name="base_joint" type="fixed" >    
+    <parent link="origin_link"/>    
+    <child link="base_link"/>	    
+  </joint>      
+  
+ <link name="little_l1">      
     <inertial>      
-      <origin      
-        xyz="0.021926 0.00020302 9.6353E-08"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.010346" />      
-      <inertia      
-        ixx="4.6802E-07"      
-        ixy="5.726E-08"      
-        ixz="1.4761E-11"      
-        iyy="2.4622E-06"      
-        iyz="4.7237E-11"      
-        izz="2.4327E-06" />      
-    </inertial>      
+      <origin xyz="0.021926 0.00020302 9.6353E-08" rpy="0 0 0" />      
+      <mass value="0.010346" />      
+      <inertia ixx="4.6802E-07" ixy="5.726E-08" ixz="1.4761E-11" iyy="2.4622E-06" iyz="4.7237E-11" izz="2.4327E-06" />      
+    </inertial>  
+    
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/little_l1.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual> 
+     
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/little_l1.stl" />      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
+       <geometry>      
+        <mesh filename="package://miitzhand_description/meshes/little_l1.stl" />      
       </geometry>      
     </collision>      
-  </link>      
-  <joint      
-    name="little_j1"      
-    type="revolute">      
-    <origin      
-      xyz="0.003 0.04062 0.11977"      
-      rpy="-0.034907 -1.4835 1.5708" />      
-    <parent      
-      link="base_link" />      
-    <child      
-      link="little_l1" />      
-    <axis      
-      xyz="0 0 -1" />      
-    <limit      
-      lower="-1.57"      
-      upper="0"      
-      effort="0.37"      
-      velocity="5.61" />      
-  </joint>      
-  <link      
-    name="little_l2">      
+ </link> 
+     
+  <joint name="little_j1" type="revolute">      
+    <origin xyz="0.003 0.04062 0.11977" rpy="-0.034907 -1.4835 1.5708" />      
+     <parent link="base_link" />      
+     <child link="little_l1" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
+  </joint>
+      
+ <link name="little_l2">      
     <inertial>      
-      <origin      
-        xyz="0.010872 0.00039672 4.7668E-06"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.0052657" />      
-      <inertia      
-        ixx="2.3451E-07"      
-        ixy="2.5431E-08"      
-        ixz="-2.1744E-11"      
-        iyy="6.3027E-07"      
-        iyz="2.6048E-10"      
-        izz="6.1275E-07" />      
-    </inertial>      
+      <origin xyz="0.010872 0.00039672 4.7668E-06" rpy="0 0 0" />      
+      <mass value="0.0052657" />      
+      <inertia ixx="2.3451E-07" ixy="2.5431E-08" ixz="-2.1744E-11" iyy="6.3027E-07" iyz="2.6048E-10" izz="6.1275E-07" />      
+    </inertial> 
+     
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/little_l2.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual> 
+     
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
       <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/little_l2.stl" />      
+        <mesh filename="package://miitzhand_description/meshes/little_l2.stl" />      
       </geometry>      
     </collision>      
-  </link>      
-  <joint      
-    name="little_j2"      
-    type="revolute">      
-    <origin      
-      xyz="0.047 0 0"      
-      rpy="1.9727E-16 0 -4.3368E-19" />      
-    <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" />    
+ </link> 
+     
+  <joint name="little_j2" type="revolute">      
+    <origin xyz="0.047 0 0" rpy="0 0 0" />      
+     <parent link="little_l1" />      
+     <child link="little_l2" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
     <mimic joint="little_j1" multiplier="1" offset="0" />      
-  </joint>      
-  <link      
-    name="little_l3">      
+  </joint> 
+     
+ <link name="little_l3">      
     <inertial>      
-      <origin      
-        xyz="0.0099715 0.00045399 -2.4744E-07"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.0049969" />      
-      <inertia      
-        ixx="1.7179E-07"      
-        ixy="2.5186E-08"      
-        ixz="7.6349E-12"      
-        iyy="4.632E-07"      
-        iyz="-6.3855E-11"      
-        izz="4.9237E-07" />      
-    </inertial>      
+      <origin xyz="0.0099715 0.00045399 -2.4744E-07" rpy="0 0 0" />      
+      <mass value="0.0049969" />      
+      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.6349E-12" iyy="4.632E-07" iyz="-6.3855E-11" izz="4.9237E-07" />      
+    </inertial> 
+     
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/little_l3.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual>
+      
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
       <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/little_l3.stl" />      
+        <mesh filename="package://miitzhand_description/meshes/little_l3.stl" />      
       </geometry>      
     </collision>      
-  </link>      
-  <joint      
-    name="little_j3"      
-    type="revolute">      
-    <origin      
-      xyz="0.0267 0 0"      
-      rpy="7.2967E-17 0 -4.3368E-19" />      
-    <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" />    
+ </link> 
+     
+  <joint name="little_j3" type="revolute">      
+    <origin xyz="0.0267 0 0" rpy="0 0 0" />      
+     <parent link="little_l2" />      
+     <child link="little_l3" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
     <mimic joint="little_j1" multiplier="1" offset="0" />      
-  </joint>      
-  <link      
-    name="ring_l1">      
+  </joint> 
+     
+ <link name="ring_l1">      
     <inertial>      
-      <origin      
-        xyz="0.021926 0.00020302 9.349E-08"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.010346" />      
-      <inertia      
-        ixx="4.6802E-07"      
-        ixy="5.726E-08"      
-        ixz="1.4301E-11"      
-        iyy="2.4622E-06"      
-        iyz="4.7323E-11"      
-        izz="2.4327E-06" />      
-    </inertial>      
+      <origin xyz="0.021926 0.00020302 9.349E-08" rpy="0 0 0" />      
+      <mass value="0.010346" />      
+      <inertia ixx="4.6802E-07" ixy="5.726E-08" ixz="1.4301E-11" iyy="2.4622E-06" iyz="4.7323E-11" izz="2.4327E-06" />      
+    </inertial>
+      
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/ring_l1.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual> 
+     
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
       <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/ring_l1.stl" />      
+        <mesh filename="package://miitzhand_description/meshes/ring_l1.stl" />      
       </geometry>      
     </collision>      
-  </link>      
-  <joint      
-    name="ring_j1"      
-    type="revolute">      
-    <origin      
-      xyz="-0.003 0.017716 0.12886"      
-      rpy="1.3656E-08 -1.5359 1.5708" />      
-    <parent      
-      link="base_link" />      
-    <child      
-      link="ring_l1" />      
-    <axis      
-      xyz="0 0 -1" />      
-    <limit      
-      lower="-1.57"      
-      upper="0"      
-      effort="0.37"      
-      velocity="5.61" />      
+ </link>  
+    
+  <joint name="ring_j1" type="revolute">      
+    <origin xyz="-0.003 0.017716 0.12886" rpy="0 -1.5359 1.5708" />      
+     <parent link="base_link" />      
+     <child link="ring_l1" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
   </joint>      
-  <link      
-    name="ring_l2">      
+  
+ <link name="ring_l2">      
     <inertial>      
-      <origin      
-        xyz="0.010872 0.00039795 1.1259E-06"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.0052659" />      
-      <inertia      
-        ixx="2.3451E-07"      
-        ixy="2.5367E-08"      
-        ixz="4.1433E-11"      
-        iyy="6.303E-07"      
-        iyz="1.167E-10"      
-        izz="6.1276E-07" />      
-    </inertial>      
+      <origin xyz="0.010872 0.00039795 1.1259E-06" rpy="0 0 0" />      
+      <mass value="0.0052659" />      
+      <inertia ixx="2.3451E-07" ixy="2.5367E-08" ixz="4.1433E-11" iyy="6.303E-07" iyz="1.167E-10" izz="6.1276E-07" />      
+    </inertial> 
+     
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/ring_l2.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual> 
+     
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
       <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/ring_l2.stl" />      
+        <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="-4.545E-16 0 -1.034E-25" />      
-    <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" />    
+ </link>      
+  
+  <joint name="ring_j2" type="revolute">      
+    <origin xyz="0.047 0 0" rpy="0 0 0" />      
+     <parent link="ring_l1" />      
+     <child link="ring_l2" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
     <mimic joint="ring_j1" multiplier="1" offset="0" />      
-  </joint>      
-  <link      
-    name="ring_l3">      
+  </joint>
+      
+  <link name="ring_l3">      
     <inertial>      
-      <origin      
-        xyz="0.0099715 0.00045398 -2.4944E-07"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.0049969" />      
-      <inertia      
-        ixx="1.7179E-07"      
-        ixy="2.5186E-08"      
-        ixz="7.604E-12"      
-        iyy="4.632E-07"      
-        iyz="-6.3764E-11"      
-        izz="4.9237E-07" />      
-    </inertial>      
+      <origin xyz="0.0099715 0.00045398 -2.4944E-07" rpy="0 0 0" />      
+      <mass value="0.0049969" />      
+      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.604E-12" iyy="4.632E-07" iyz="-6.3764E-11" izz="4.9237E-07" />      
+    </inertial> 
+     
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/ring_l3.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
-      </material>      
-    </visual>      
+      <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>      
+      <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="3.296E-16 0 1.034E-25" />      
-    <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" />    
+ </link> 
+     
+  <joint name="ring_j3" type="revolute">      
+    <origin xyz="0.0267 0 0" rpy="0 0 0" />      
+     <parent link="ring_l2" />      
+     <child link="ring_l3" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
     <mimic joint="ring_j1" multiplier="1" offset="0" />      
-  </joint>      
-  <link      
-    name="middle_l1">      
+  </joint> 
+     
+ <link name="middle_l1">      
     <inertial>      
-      <origin      
-        xyz="0.021926 0.00020303 9.1214E-08"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.010346" />      
-      <inertia      
-        ixx="4.6802E-07"      
-        ixy="5.7259E-08"      
-        ixz="1.3936E-11"      
-        iyy="2.4622E-06"      
-        iyz="4.7436E-11"      
-        izz="2.4327E-06" />      
-    </inertial>      
+      <origin xyz="0.021926 0.00020303 9.1214E-08" rpy="0 0 0" />      
+      <mass value="0.010346" />      
+      <inertia ixx="4.6802E-07" ixy="5.7259E-08" ixz="1.3936E-11" iyy="2.4622E-06" iyz="4.7436E-11" izz="2.4327E-06" />      
+    </inertial>
+      
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/middle_l1.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual>
+      
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/middle_l1.stl" />      
-      </geometry>      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
+       <geometry>      
+        <mesh filename="package://miitzhand_description/meshes/middle_l1.stl" />      
+       </geometry>      
     </collision>      
-  </link>      
-  <joint      
-    name="middle_j1"      
-    type="revolute">      
-    <origin      
-      xyz="-0.003 -0.007 0.1285"      
-      rpy="1.5097 -1.5708 0" />      
-    <parent      
-      link="base_link" />      
-    <child      
-      link="middle_l1" />      
-    <axis      
-      xyz="0 0 -1" />      
-    <limit      
-      lower="-1.57"      
-      upper="0"      
-      effort="0.37"      
-      velocity="5.61" />      
-  </joint>      
-  <link      
-    name="middle_l2">      
+ </link> 
+     
+  <joint name="middle_j1" type="revolute">      
+    <origin xyz="-0.003 -0.007 0.1285" rpy="1.5097 -1.5708 0" />      
+     <parent link="base_link" />      
+     <child link="middle_l1" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
+  </joint>
+      
+ <link name="middle_l2">      
     <inertial>      
-      <origin      
-        xyz="0.010872 0.00039802 1.0929E-06"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.0052658" />      
-      <inertia      
-        ixx="2.345E-07"      
-        ixy="2.5369E-08"      
-        ixz="4.0562E-11"      
-        iyy="6.303E-07"      
-        iyz="1.133E-10"      
-        izz="6.1276E-07" />      
-    </inertial>      
+      <origin xyz="0.010872 0.00039802 1.0929E-06" rpy="0 0 0" />      
+      <mass value="0.0052658" />      
+      <inertia ixx="2.345E-07" ixy="2.5369E-08" ixz="4.0562E-11" iyy="6.303E-07" iyz="1.133E-10" izz="6.1276E-07" />      
+    </inertial>
+      
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/middle_l2.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual>
+      
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
       <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/middle_l2.stl" />      
+        <mesh filename="package://miitzhand_description/meshes/middle_l2.stl" />      
       </geometry>      
     </collision>      
-  </link>      
-  <joint      
-    name="middle_j2"      
-    type="revolute">      
-    <origin      
-      xyz="0.047 0 0"      
-      rpy="9.7145E-17 2.4652E-32 0" />      
-    <parent      
-      link="middle_l1" />      
-    <child      
-      link="middle_l2" />      
-    <axis      
-      xyz="0 0 -1" />      
-    <limit      
-      lower="-1.57"      
-      upper="0"      
-      effort="0.37"      
-      velocity="5.61" />    
+ </link> 
+     
+  <joint name="middle_j2" type="revolute">      
+    <origin xyz="0.047 0 0" rpy="0 0 0" />      
+     <parent link="middle_l1" />      
+     <child link="middle_l2" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
     <mimic joint="middle_j1" multiplier="1" offset="0" />      
-  </joint>      
-  <link      
-    name="middle_l3">      
+  </joint>
+      
+ <link name="middle_l3">      
     <inertial>      
-      <origin      
-        xyz="0.0099715 0.00045399 -2.4729E-07"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.0049969" />      
-      <inertia      
-        ixx="1.7179E-07"      
-        ixy="2.5186E-08"      
-        ixz="7.5922E-12"      
-        iyy="4.632E-07"      
-        iyz="-6.3732E-11"      
-        izz="4.9237E-07" />      
+      <origin xyz="0.0099715 0.00045399 -2.4729E-07" rpy="0 0 0" />      
+      <mass value="0.0049969" />      
+      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.5922E-12" iyy="4.632E-07" iyz="-6.3732E-11" izz="4.9237E-07" />      
     </inertial>      
+    
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/middle_l3.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual>
+      
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/middle_l3.stl" />      
-      </geometry>      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
+       <geometry>      
+        <mesh filename="package://miitzhand_description/meshes/middle_l3.stl" />      
+       </geometry>      
     </collision>      
-  </link>      
-  <joint      
-    name="middle_j3"      
-    type="revolute">      
-    <origin      
-      xyz="0.0267 0 0"      
-      rpy="2.7062E-16 2.4652E-32 0" />      
-    <parent      
-      link="middle_l2" />      
-    <child      
-      link="middle_l3" />      
-    <axis      
-      xyz="0 0 -1" />      
-    <limit      
-      lower="-1.57"      
-      upper="0"      
-      effort="0.37"      
-      velocity="5.61" />    
+ </link>
+      
+  <joint name="middle_j3" type="revolute">      
+    <origin xyz="0.0267 0 0" rpy="0 0 0" />      
+     <parent link="middle_l2" />      
+     <child link="middle_l3" />      
+    <axis xyz="0 0 1" />      
+    <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">      
+  </joint>
+      
+ <link name="index_l1">      
     <inertial>      
-      <origin      
-        xyz="0.021926 0.00020303 8.9303E-08"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.010346" />      
-      <inertia      
-        ixx="4.6802E-07"      
-        ixy="5.7259E-08"      
-        ixz="1.3617E-11"      
-        iyy="2.4622E-06"      
-        iyz="4.7436E-11"      
-        izz="2.4327E-06" />      
-    </inertial>      
+      <origin xyz="0.021926 0.00020303 8.9303E-08" rpy="0 0 0" />      
+      <mass value="0.010346" />      
+      <inertia ixx="4.6802E-07" ixy="5.7259E-08" ixz="1.3617E-11" iyy="2.4622E-06" iyz="4.7436E-11" izz="2.4327E-06" />      
+    </inertial> 
+     
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/index_l1.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual>
+      
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/index_l1.stl" />      
-      </geometry>      
-    </collision>      
-  </link>      
-  <joint      
-    name="index_j1"      
-    type="revolute">      
-    <origin      
-      xyz="0 -0.030847 0.12828"      
-      rpy="-3.0402 -1.5533 -1.5708" />      
-    <parent      
-      link="base_link" />      
-    <child      
-      link="index_l1" />      
-    <axis      
-      xyz="0 0 -1" />      
-    <limit      
-      lower="-1.57"      
-      upper="0"      
-      effort="0.37"      
-      velocity="5.61" />      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
+       <geometry>      
+        <mesh filename="package://miitzhand_description/meshes/index_l1.stl" />      
+       </geometry>      
+    </collision>     
+ </link>      
+  
+  <joint name="index_j1" type="revolute">      
+    <origin xyz="0 -0.030847 0.12828" rpy="-3.0402 -1.5533 -1.5708" />      
+     <parent link="base_link" />      
+     <child link="index_l1" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
   </joint>      
-  <link      
-    name="index_l2">      
+ 
+ <link name="index_l2">      
     <inertial>      
-      <origin      
-        xyz="0.010872 0.00039808 1.071E-06"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.0052658" />      
-      <inertia      
-        ixx="2.345E-07"      
-        ixy="2.5371E-08"      
-        ixz="4.0061E-11"      
-        iyy="6.303E-07"      
-        iyz="1.1054E-10"      
-        izz="6.1275E-07" />      
+      <origin xyz="0.010872 0.00039808 1.071E-06" rpy="0 0 0" />      
+      <mass value="0.0052658" />      
+      <inertia ixx="2.345E-07" ixy="2.5371E-08" ixz="4.0061E-11" iyy="6.303E-07" iyz="1.1054E-10" izz="6.1275E-07" />      
     </inertial>      
+    
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/index_l2.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual> 
+     
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/index_l2.stl" />      
-      </geometry>      
+      <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="2.0664E-16 0 0" />      
-    <parent      
-      link="index_l1" />      
-    <child      
-      link="index_l2" />      
-    <axis      
-      xyz="0 0 -1" />      
-    <limit      
-      lower="-1.57"      
-      upper="0"      
-      effort="0.37"      
-      velocity="5.61" />    
+ </link> 
+     
+  <joint name="index_j2" type="revolute">      
+    <origin xyz="0.047 0 0" rpy="0 0 0" />      
+     <parent link="index_l1" />      
+     <child link="index_l2" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
     <mimic joint="index_j1" multiplier="1" offset="0" />      
   </joint>      
-  <link      
-    name="index_l3">      
+  
+ <link name="index_l3">      
     <inertial>      
-      <origin      
-        xyz="0.0099715 0.00045399 -2.4634E-07"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.0049969" />      
-      <inertia      
-        ixx="1.7179E-07"      
-        ixy="2.5186E-08"      
-        ixz="7.6038E-12"      
-        iyy="4.632E-07"      
-        iyz="-6.3738E-11"      
-        izz="4.9237E-07" />      
+      <origin xyz="0.0099715 0.00045399 -2.4634E-07" rpy="0 0 0" />      
+      <mass value="0.0049969" />      
+      <inertia ixx="1.7179E-07" ixy="2.5186E-08" ixz="7.6038E-12" iyy="4.632E-07" iyz="-6.3738E-11" izz="4.9237E-07" />      
     </inertial>      
+    
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/index_l3.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+    </visual> 
+     
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/index_l3.stl" />      
-      </geometry>      
+      <origin xyz="0 0 0" rpy="0 0 0" />      
+       <geometry>      
+        <mesh filename="package://miitzhand_description/meshes/index_l3.stl" />      
+       </geometry>      
     </collision>      
-  </link>      
-  <joint      
-    name="index_j3"      
-    type="revolute">      
-    <origin      
-      xyz="0.0267 0 0"      
-      rpy="9.9799E-16 3.4694E-18 -2.1684E-19" />      
-    <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" />    
+ </link> 
+     
+  <joint name="index_j3" type="revolute">      
+    <origin xyz="0.0267 0 0" rpy="0 0 0" />      
+     <parent link="index_l2" />      
+     <child link="index_l3" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
     <mimic joint="index_j1" multiplier="1" offset="0" />      
-  </joint>      
-  <link      
-    name="thumb_l1">      
+  </joint>
+      
+ <link name="thumb_l1">      
     <inertial>      
-      <origin      
-        xyz="-3.496E-16 0.021473 -0.015879"      
-        rpy="0 0 0" />      
-      <mass      
-        value="0.0091302" />      
-      <inertia      
-        ixx="1.8031E-06"      
-        ixy="4.0034E-14"      
-        ixz="4.2008E-21"      
-        iyy="6.4629E-07"      
-        iyz="-2.8188E-07"      
-        izz="1.5763E-06" />      
+      <origin xyz="-3.496E-16 0.021473 -0.015879" rpy="0 0 0" />      
+      <mass value="0.0091302" />      
+      <inertia ixx="1.8031E-06" ixy="4.0034E-14" ixz="4.2008E-21" iyy="6.4629E-07" iyz="-2.8188E-07" izz="1.5763E-06" />      
     </inertial>      
+    
     <visual>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/thumb_l1.stl" />      
-      </geometry>      
-      <material      
-        name="">      
-        <color      
-          rgba="1 1 1 1" />      
+      <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>      
+      <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">      
+ </link>
+      
+  <joint name="thumb_j1" type="revolute">      
+    <origin xyz="-0.00034464 -0.043575 0.070929" rpy="-0.69813 0 -3.1416" />      
+     <parent link="base_link" />      
+     <child link="thumb_l1" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="0" upper="1.57" effort="0.37" velocity="5.61" />      
+  </joint>
+      
+ <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>      
+      <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" />      
+      <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>      
+    </visual>
+      
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/thumb_l2.stl" />      
-      </geometry>      
+      <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 1.9249E-05 -1" />      
-    <limit      
-      lower="-1.57"      
-      upper="0"      
-      effort="0.37"      
-      velocity="5.61" />      
+ </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">      
+  
+ <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>      
+      <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" />      
+      <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>      
+    </visual> 
+     
     <collision>      
-      <origin      
-        xyz="0 0 0"      
-        rpy="0 0 0" />      
-      <geometry>      
-        <mesh      
-          filename="package://miitzhand_description/meshes/thumb_l3.stl" />      
-      </geometry>      
+      <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 -1.2849E-14" />      
-    <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" />    
+ </link>
+      
+  <joint name="thumb_j3" type="revolute">      
+    <origin xyz="0.047 0 0" rpy="0 0 0" />      
+     <parent link="thumb_l2" />      
+     <child link="thumb_l3" />      
+    <axis xyz="0 0 1" />      
+    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
     <mimic joint="thumb_j2" multiplier="1" offset="0" />      
   </joint>