From 605a39220e31be9526ad8e2389ce8479a14f94b3 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 5 Feb 2019 02:20:07 -0200
Subject: [PATCH] Fix end of lines to LF-only.

---
 miitzhand_description/urdf/miitzhand.urdf | 2382 ++++++++++++++---------------
 1 file changed, 1191 insertions(+), 1191 deletions(-)

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 876b16d..7f7a5fd 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -1,1191 +1,1191 @@
-<robot
-  name="miitzhand">
-<link 
-  name="world"/> 
-  <link
-    name="origin_link"/>
-   <joint name="origin_joint" type="fixed" >
-		<parent link="world"/>
-		<child link="origin_link"/>
-	</joint>
-  <link
-    name="base_link">
-    <inertial>
-      <origin
-        xyz="-0.00037433 0.0019683 0.070254"
-        rpy="0 0 0" />
-      <mass
-        value="0.16419" />
-      <inertia
-        ixx="0.00024692"
-        ixy="-3.8095E-06"
-        ixz="1.5276E-06"
-        iyy="0.00015647"
-        iyz="-1.4218E-06"
-        izz="0.00010717" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/base_link.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/base_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-<joint name="base_joint" type="fixed" >
-	<parent link="origin_link"/>
-	<child link="base_link"/>	
-</joint>
-  <link
-    name="little_l1">
-    <inertial>
-      <origin
-        xyz="0.02191 -0.00087244 8.9868E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.010346" />
-      <inertia
-        ixx="4.7843E-07"
-        ixy="1.5466E-07"
-        ixz="1.706E-11"
-        iyy="2.4518E-06"
-        iyz="4.6456E-11"
-        izz="2.4327E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/little_l1.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/little_l1.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="little_j1"
-    type="revolute">
-    <origin
-      xyz="0.0030031 0.04071 0.11976"
-      rpy="-0.53727 -1.4692 2.0753" />
-    <parent
-      link="base_link" />
-    <child
-      link="little_l1" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-  </joint>
-  <link
-    name="little_l2">
-    <inertial>
-      <origin
-        xyz="0.010817 -0.0024647 4.7668E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052657" />
-      <inertia
-        ixx="2.3814E-07"
-        ixy="4.5521E-08"
-        ixz="-8.3876E-12"
-        iyy="6.2663E-07"
-        iyz="2.6126E-10"
-        izz="6.1275E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/little_l2.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/little_l2.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="little_j2"
-    type="revolute">
-    <origin
-      xyz="0.047 0 8.7389E-05"
-      rpy="1.9082E-16 -1.8041E-16 0.0021314" />
-    <parent
-      link="little_l1" />
-    <child
-      link="little_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-    <mimic joint="little_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="little_l3">
-    <inertial>
-      <origin
-        xyz="0.0096346 -0.0043345 1.7082E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.8118E-07"
-        ixy="5.729E-08"
-        ixz="3.6348E-13"
-        iyy="4.5381E-07"
-        iyz="-6.4309E-11"
-        izz="4.9237E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/little_l3.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/little_l3.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="little_j3"
-    type="revolute">
-    <origin
-      xyz="0.0267 0 -1.4947E-05"
-      rpy="7.4593E-17 -9.7145E-17 0.062159" />
-    <parent
-      link="little_l2" />
-    <child
-      link="little_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-    <mimic joint="little_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="ring_l1">
-    <inertial>
-      <origin
-        xyz="0.021843 -0.0019146 2.9598E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.010346" />
-      <inertia
-        ixx="4.9761E-07"
-        ixy="2.4781E-07"
-        ixz="1.8803E-11"
-        iyy="2.4327E-06"
-        iyz="4.5721E-11"
-        izz="2.4327E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/ring_l1.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/ring_l1.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="ring_j1"
-    type="revolute">
-    <origin
-      xyz="-0.003 0.017746 0.12886"
-      rpy="-1.2237 -1.468 2.7962" />
-    <parent
-      link="base_link" />
-    <child
-      link="ring_l1" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-  </joint>
-  <link
-    name="ring_l2">
-    <inertial>
-      <origin
-        xyz="0.010849 -0.0047389 3.1967E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052659" />
-      <inertia
-        ixx="2.3845E-07"
-        ixy="4.6802E-08"
-        ixz="4.7745E-11"
-        iyy="6.2635E-07"
-        iyz="1.1426E-10"
-        izz="6.1276E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/ring_l2.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/ring_l2.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="ring_j2"
-    type="revolute">
-    <origin
-      xyz="0.047 0 0"
-      rpy="-3.8229E-16 1.3461E-15 -0.04204" />
-    <parent
-      link="ring_l1" />
-    <child
-      link="ring_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-    <mimic joint="ring_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="ring_l3">
-    <inertial>
-      <origin
-        xyz="0.009579 -0.0066047 2.1133E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.8049E-07"
-        ixy="5.5619E-08"
-        ixz="7.3564E-13"
-        iyy="4.545E-07"
-        iyz="-6.4212E-11"
-        izz="4.9237E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/ring_l3.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/ring_l3.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="ring_j3"
-    type="revolute">
-    <origin
-      xyz="0.0267 0 0"
-      rpy="3.1268E-16 -1.7347E-16 0.052588" />
-    <parent
-      link="ring_l2" />
-    <child
-      link="ring_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-    <mimic joint="ring_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="middle_l1">
-    <inertial>
-      <origin
-        xyz="0.021837 -0.0019855 2.3889E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.010346" />
-      <inertia
-        ixx="4.9924E-07"
-        ixy="2.5408E-07"
-        ixz="1.8598E-11"
-        iyy="2.431E-06"
-        iyz="4.5809E-11"
-        izz="2.4327E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/middle_l1.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/middle_l1.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="middle_j1"
-    type="revolute">
-    <origin
-      xyz="-0.0030015 -0.0069762 0.1285"
-      rpy="-1.5708 -1.4709 -3.0805" />
-    <parent
-      link="base_link" />
-    <child
-      link="middle_l1" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-  </joint>
-  <link
-    name="middle_l2">
-    <inertial>
-      <origin
-        xyz="0.011077 -0.004368 4.8908E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052658" />
-      <inertia
-        ixx="2.3488E-07"
-        ixy="2.8117E-08"
-        ixz="4.1349E-11"
-        iyy="6.2993E-07"
-        iyz="1.1302E-10"
-        izz="6.1276E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/middle_l2.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/middle_l2.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="middle_j2"
-    type="revolute">
-    <origin
-      xyz="0.047 0 2E-05"
-      rpy="1.0327E-16 -5.9896E-17 -0.092983" />
-    <parent
-      link="middle_l1" />
-    <child
-      link="middle_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-    <mimic joint="middle_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="middle_l3">
-    <inertial>
-      <origin
-        xyz="0.010205 -0.0044243 -1.6449E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.7181E-07"
-        ixy="2.5294E-08"
-        ixz="7.5687E-12"
-        iyy="4.6318E-07"
-        iyz="-6.3735E-11"
-        izz="4.9237E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/middle_l3.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/middle_l3.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="middle_j3"
-    type="revolute">
-    <origin
-      xyz="0.0267 0 2E-05"
-      rpy="2.706E-16 -1.6909E-16 -0.0065785" />
-    <parent
-      link="middle_l2" />
-    <child
-      link="middle_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-    <mimic joint="middle_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="index_l1">
-    <inertial>
-      <origin
-        xyz="0.021895 -0.0011835 8.9303E-08"
-        rpy="0 0 0" />
-      <mass
-        value="0.010346" />
-      <inertia
-        ixx="4.8322E-07"
-        ixy="1.8262E-07"
-        ixz="1.6588E-11"
-        iyy="2.447E-06"
-        iyz="4.648E-11"
-        izz="2.4327E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/index_l1.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/index_l1.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="index_j1"
-    type="revolute">
-    <origin
-      xyz="0 -0.030847 0.12828"
-      rpy="-1.8319 -1.5035 -2.7796" />
-    <parent
-      link="base_link" />
-    <child
-      link="index_l1" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-  </joint>
-  <link
-    name="index_l2">
-    <inertial>
-      <origin
-        xyz="0.010822 -0.0031266 1.071E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.0052658" />
-      <inertia
-        ixx="2.381E-07"
-        ixy="4.5311E-08"
-        ixz="4.5623E-11"
-        iyy="6.267E-07"
-        iyz="1.0837E-10"
-        izz="6.1275E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/index_l2.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/index_l2.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="index_j2"
-    type="revolute">
-    <origin
-      xyz="0.047 0 0"
-      rpy="1.7683E-16 -2.7756E-17 -0.012461" />
-    <parent
-      link="index_l1" />
-    <child
-      link="index_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-    <mimic joint="index_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="index_l3">
-    <inertial>
-      <origin
-        xyz="0.010146 -0.0037511 7.9672E-05"
-        rpy="0 0 0" />
-      <mass
-        value="0.0049969" />
-      <inertia
-        ixx="1.7123E-07"
-        ixy="2.1673E-08"
-        ixz="8.37E-12"
-        iyy="4.6376E-07"
-        iyz="-6.3642E-11"
-        izz="4.9237E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/index_l3.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/index_l3.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="index_j3"
-    type="revolute">
-    <origin
-      xyz="0.0267 0 -7.9919E-05"
-      rpy="1.0595E-15 -1.7243E-15 -0.062827" />
-    <parent
-      link="index_l2" />
-    <child
-      link="index_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-    <mimic joint="index_j1" multiplier="1" offset="0" />
-  </joint>
-  <link
-    name="thumb_l1">
-    <inertial>
-      <origin
-        xyz="-3.4971E-16 0.021473 -0.015879"
-        rpy="0 0 0" />
-      <mass
-        value="0.0091302" />
-      <inertia
-        ixx="1.8031E-06"
-        ixy="4.0034E-14"
-        ixz="4.2116E-21"
-        iyy="6.4629E-07"
-        iyz="-2.8188E-07"
-        izz="1.5763E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/thumb_l1.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/thumb_l1.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="thumb_j1"
-    type="revolute">
-    <origin
-      xyz="-0.00034464 -0.043575 0.070929"
-      rpy="-0.69813 -6.796E-15 -3.1416" />
-    <parent
-      link="base_link" />
-    <child
-      link="thumb_l1" />
-    <axis
-      xyz="0 0 1" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="0.37"
-      velocity="5.61" />
-  </joint>
-  <link
-    name="thumb_l2">
-    <inertial>
-      <origin
-        xyz="0.021926 0.00020302 9.7353E-08"
-        rpy="0 0 0" />
-      <mass
-        value="0.010346" />
-      <inertia
-        ixx="4.6802E-07"
-        ixy="5.726E-08"
-        ixz="1.5393E-11"
-        iyy="2.4622E-06"
-        iyz="4.7897E-11"
-        izz="2.4327E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/thumb_l2.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/thumb_l2.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="thumb_j2"
-    type="revolute">
-    <origin
-      xyz="0 0.03 0"
-      rpy="1.5708 -1.5708 0" />
-    <parent
-      link="thumb_l1" />
-    <child
-      link="thumb_l2" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-  </joint>
-  <link
-    name="thumb_l3">
-    <inertial>
-      <origin
-        xyz="0.0099715 0.00045398 -2.5524E-07"
-        rpy="0 0 0" />
-      <mass
-        value="0.004997" />
-      <inertia
-        ixx="1.7179E-07"
-        ixy="2.5186E-08"
-        ixz="7.6937E-12"
-        iyy="4.632E-07"
-        iyz="-6.3833E-11"
-        izz="4.9237E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/thumb_l3.stl" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://miitzhand_description/meshes/thumb_l3.stl" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="thumb_j3"
-    type="revolute">
-    <origin
-      xyz="0.047 0 0"
-      rpy="1.9249E-05 -1.4988E-15 -4.8418E-15" />
-    <parent
-      link="thumb_l2" />
-    <child
-      link="thumb_l3" />
-    <axis
-      xyz="0 0 -1" />
-    <limit
-      lower="-1.57"
-      upper="0"
-      effort="0.37"
-      velocity="5.61" />
-    <mimic joint="thumb_j2" multiplier="1" offset="0" />
-  </joint>
-
-<transmission name="thumb1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="thumb_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="thumb1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="thumb2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="thumb_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="thumb2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="thumb3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="thumb_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="thumb3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-  	<joint>thumb_j3</joint>
-  	<mimicJoint>thumb_j2</mimicJoint>
-  	<multiplier>1.0</multiplier>
-  	<offset>0.0</offset>
-  	<maxEffort>30.0</maxEffort>
-  	<sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="index1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="index_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="index1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="index2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="index_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="index2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-  	<joint>index_j2</joint>
-  	<mimicJoint>index_j1</mimicJoint>
-  	<multiplier>1.0</multiplier>
-  	<offset>0.0</offset>
-  	<maxEffort>30.0</maxEffort>
-  	<sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="index3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="index_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="index3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-  	<joint>index_j3</joint>
-  	<mimicJoint>index_j1</mimicJoint>
-  	<multiplier>1.0</multiplier>
-  	<offset>0.0</offset>
-  	<maxEffort>30.0</maxEffort>
-  	<sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="middle1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="middle_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="middle1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="middle2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="middle_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="middle2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-  	<joint>middle_j2</joint>
-  	<mimicJoint>middle_j1</mimicJoint>
-  	<multiplier>1.0</multiplier>
-  	<offset>0.0</offset>
-  	<maxEffort>30.0</maxEffort>
-  	<sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="middle3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="middle_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="middle3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-  	<joint>middle_j3</joint>
-  	<mimicJoint>middle_j1</mimicJoint>
-  	<multiplier>1.0</multiplier>
-  	<offset>0.0</offset>
-  	<maxEffort>30.0</maxEffort>
-  	<sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="ring1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="ring_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="ring1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="ring2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="ring_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="ring2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-  	<joint>ring_j2</joint>
-  	<mimicJoint>ring_j1</mimicJoint>
-  	<multiplier>1.0</multiplier>
-  	<offset>0.0</offset>
-  	<maxEffort>30.0</maxEffort>
-  	<sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="ring3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="ring_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="ring3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-  	<joint>ring_j3</joint>
-  	<mimicJoint>ring_j1</mimicJoint>
-  	<multiplier>1.0</multiplier>
-  	<offset>0.0</offset>
-  	<maxEffort>30.0</maxEffort>
-  	<sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="little1_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="little_j1">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="little1_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<transmission name="little2_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="little_j2">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="little2_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-  	<joint>little_j2</joint>
-  	<mimicJoint>little_j1</mimicJoint>
-  	<multiplier>1.0</multiplier>
-  	<offset>0.0</offset>
-  	<maxEffort>30.0</maxEffort>
-  	<sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<transmission name="little3_transmission">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="little_j3">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="little3_motor">
-                <mechanicalReduction>1.87</mechanicalReduction>
-        </actuator>
-</transmission>
-
-<gazebo>
-  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
-  	<joint>little_j3</joint>
-  	<mimicJoint>little_j1</mimicJoint>
-  	<multiplier>1.0</multiplier>
-  	<offset>0.0</offset>
- 	<maxEffort>30.0</maxEffort>
-  	<sensitiveness>0.0</sensitiveness>
-  </plugin>
-</gazebo>
-
-<gazebo>
-    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-     	<robotNamespace>/miitzhand</robotNamespace>
-     	<controlPeriod>0.001</controlPeriod>
-     	<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
-    </plugin>
-</gazebo>
-</robot>
+<robot
+  name="miitzhand">
+<link 
+  name="world"/> 
+  <link
+    name="origin_link"/>
+   <joint name="origin_joint" type="fixed" >
+		<parent link="world"/>
+		<child link="origin_link"/>
+	</joint>
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00037433 0.0019683 0.070254"
+        rpy="0 0 0" />
+      <mass
+        value="0.16419" />
+      <inertia
+        ixx="0.00024692"
+        ixy="-3.8095E-06"
+        ixz="1.5276E-06"
+        iyy="0.00015647"
+        iyz="-1.4218E-06"
+        izz="0.00010717" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/base_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+<joint name="base_joint" type="fixed" >
+	<parent link="origin_link"/>
+	<child link="base_link"/>	
+</joint>
+  <link
+    name="little_l1">
+    <inertial>
+      <origin
+        xyz="0.02191 -0.00087244 8.9868E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.010346" />
+      <inertia
+        ixx="4.7843E-07"
+        ixy="1.5466E-07"
+        ixz="1.706E-11"
+        iyy="2.4518E-06"
+        iyz="4.6456E-11"
+        izz="2.4327E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/little_l1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/little_l1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="little_j1"
+    type="revolute">
+    <origin
+      xyz="0.0030031 0.04071 0.11976"
+      rpy="-0.53727 -1.4692 2.0753" />
+    <parent
+      link="base_link" />
+    <child
+      link="little_l1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+  </joint>
+  <link
+    name="little_l2">
+    <inertial>
+      <origin
+        xyz="0.010817 -0.0024647 4.7668E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.0052657" />
+      <inertia
+        ixx="2.3814E-07"
+        ixy="4.5521E-08"
+        ixz="-8.3876E-12"
+        iyy="6.2663E-07"
+        iyz="2.6126E-10"
+        izz="6.1275E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/little_l2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/little_l2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="little_j2"
+    type="revolute">
+    <origin
+      xyz="0.047 0 8.7389E-05"
+      rpy="1.9082E-16 -1.8041E-16 0.0021314" />
+    <parent
+      link="little_l1" />
+    <child
+      link="little_l2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+    <mimic joint="little_j1" multiplier="1" offset="0" />
+  </joint>
+  <link
+    name="little_l3">
+    <inertial>
+      <origin
+        xyz="0.0096346 -0.0043345 1.7082E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.0049969" />
+      <inertia
+        ixx="1.8118E-07"
+        ixy="5.729E-08"
+        ixz="3.6348E-13"
+        iyy="4.5381E-07"
+        iyz="-6.4309E-11"
+        izz="4.9237E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/little_l3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/little_l3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="little_j3"
+    type="revolute">
+    <origin
+      xyz="0.0267 0 -1.4947E-05"
+      rpy="7.4593E-17 -9.7145E-17 0.062159" />
+    <parent
+      link="little_l2" />
+    <child
+      link="little_l3" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+    <mimic joint="little_j1" multiplier="1" offset="0" />
+  </joint>
+  <link
+    name="ring_l1">
+    <inertial>
+      <origin
+        xyz="0.021843 -0.0019146 2.9598E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.010346" />
+      <inertia
+        ixx="4.9761E-07"
+        ixy="2.4781E-07"
+        ixz="1.8803E-11"
+        iyy="2.4327E-06"
+        iyz="4.5721E-11"
+        izz="2.4327E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/ring_l1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/ring_l1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_j1"
+    type="revolute">
+    <origin
+      xyz="-0.003 0.017746 0.12886"
+      rpy="-1.2237 -1.468 2.7962" />
+    <parent
+      link="base_link" />
+    <child
+      link="ring_l1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+  </joint>
+  <link
+    name="ring_l2">
+    <inertial>
+      <origin
+        xyz="0.010849 -0.0047389 3.1967E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.0052659" />
+      <inertia
+        ixx="2.3845E-07"
+        ixy="4.6802E-08"
+        ixz="4.7745E-11"
+        iyy="6.2635E-07"
+        iyz="1.1426E-10"
+        izz="6.1276E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/ring_l2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/ring_l2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_j2"
+    type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="-3.8229E-16 1.3461E-15 -0.04204" />
+    <parent
+      link="ring_l1" />
+    <child
+      link="ring_l2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+    <mimic joint="ring_j1" multiplier="1" offset="0" />
+  </joint>
+  <link
+    name="ring_l3">
+    <inertial>
+      <origin
+        xyz="0.009579 -0.0066047 2.1133E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.0049969" />
+      <inertia
+        ixx="1.8049E-07"
+        ixy="5.5619E-08"
+        ixz="7.3564E-13"
+        iyy="4.545E-07"
+        iyz="-6.4212E-11"
+        izz="4.9237E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/ring_l3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/ring_l3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_j3"
+    type="revolute">
+    <origin
+      xyz="0.0267 0 0"
+      rpy="3.1268E-16 -1.7347E-16 0.052588" />
+    <parent
+      link="ring_l2" />
+    <child
+      link="ring_l3" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+    <mimic joint="ring_j1" multiplier="1" offset="0" />
+  </joint>
+  <link
+    name="middle_l1">
+    <inertial>
+      <origin
+        xyz="0.021837 -0.0019855 2.3889E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.010346" />
+      <inertia
+        ixx="4.9924E-07"
+        ixy="2.5408E-07"
+        ixz="1.8598E-11"
+        iyy="2.431E-06"
+        iyz="4.5809E-11"
+        izz="2.4327E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/middle_l1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/middle_l1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_j1"
+    type="revolute">
+    <origin
+      xyz="-0.0030015 -0.0069762 0.1285"
+      rpy="-1.5708 -1.4709 -3.0805" />
+    <parent
+      link="base_link" />
+    <child
+      link="middle_l1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+  </joint>
+  <link
+    name="middle_l2">
+    <inertial>
+      <origin
+        xyz="0.011077 -0.004368 4.8908E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.0052658" />
+      <inertia
+        ixx="2.3488E-07"
+        ixy="2.8117E-08"
+        ixz="4.1349E-11"
+        iyy="6.2993E-07"
+        iyz="1.1302E-10"
+        izz="6.1276E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/middle_l2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/middle_l2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_j2"
+    type="revolute">
+    <origin
+      xyz="0.047 0 2E-05"
+      rpy="1.0327E-16 -5.9896E-17 -0.092983" />
+    <parent
+      link="middle_l1" />
+    <child
+      link="middle_l2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+    <mimic joint="middle_j1" multiplier="1" offset="0" />
+  </joint>
+  <link
+    name="middle_l3">
+    <inertial>
+      <origin
+        xyz="0.010205 -0.0044243 -1.6449E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.0049969" />
+      <inertia
+        ixx="1.7181E-07"
+        ixy="2.5294E-08"
+        ixz="7.5687E-12"
+        iyy="4.6318E-07"
+        iyz="-6.3735E-11"
+        izz="4.9237E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/middle_l3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/middle_l3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_j3"
+    type="revolute">
+    <origin
+      xyz="0.0267 0 2E-05"
+      rpy="2.706E-16 -1.6909E-16 -0.0065785" />
+    <parent
+      link="middle_l2" />
+    <child
+      link="middle_l3" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+    <mimic joint="middle_j1" multiplier="1" offset="0" />
+  </joint>
+  <link
+    name="index_l1">
+    <inertial>
+      <origin
+        xyz="0.021895 -0.0011835 8.9303E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.010346" />
+      <inertia
+        ixx="4.8322E-07"
+        ixy="1.8262E-07"
+        ixz="1.6588E-11"
+        iyy="2.447E-06"
+        iyz="4.648E-11"
+        izz="2.4327E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/index_l1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/index_l1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_j1"
+    type="revolute">
+    <origin
+      xyz="0 -0.030847 0.12828"
+      rpy="-1.8319 -1.5035 -2.7796" />
+    <parent
+      link="base_link" />
+    <child
+      link="index_l1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+  </joint>
+  <link
+    name="index_l2">
+    <inertial>
+      <origin
+        xyz="0.010822 -0.0031266 1.071E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.0052658" />
+      <inertia
+        ixx="2.381E-07"
+        ixy="4.5311E-08"
+        ixz="4.5623E-11"
+        iyy="6.267E-07"
+        iyz="1.0837E-10"
+        izz="6.1275E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/index_l2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/index_l2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_j2"
+    type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="1.7683E-16 -2.7756E-17 -0.012461" />
+    <parent
+      link="index_l1" />
+    <child
+      link="index_l2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+    <mimic joint="index_j1" multiplier="1" offset="0" />
+  </joint>
+  <link
+    name="index_l3">
+    <inertial>
+      <origin
+        xyz="0.010146 -0.0037511 7.9672E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.0049969" />
+      <inertia
+        ixx="1.7123E-07"
+        ixy="2.1673E-08"
+        ixz="8.37E-12"
+        iyy="4.6376E-07"
+        iyz="-6.3642E-11"
+        izz="4.9237E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/index_l3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/index_l3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_j3"
+    type="revolute">
+    <origin
+      xyz="0.0267 0 -7.9919E-05"
+      rpy="1.0595E-15 -1.7243E-15 -0.062827" />
+    <parent
+      link="index_l2" />
+    <child
+      link="index_l3" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+    <mimic joint="index_j1" multiplier="1" offset="0" />
+  </joint>
+  <link
+    name="thumb_l1">
+    <inertial>
+      <origin
+        xyz="-3.4971E-16 0.021473 -0.015879"
+        rpy="0 0 0" />
+      <mass
+        value="0.0091302" />
+      <inertia
+        ixx="1.8031E-06"
+        ixy="4.0034E-14"
+        ixz="4.2116E-21"
+        iyy="6.4629E-07"
+        iyz="-2.8188E-07"
+        izz="1.5763E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/thumb_l1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/thumb_l1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_j1"
+    type="revolute">
+    <origin
+      xyz="-0.00034464 -0.043575 0.070929"
+      rpy="-0.69813 -6.796E-15 -3.1416" />
+    <parent
+      link="base_link" />
+    <child
+      link="thumb_l1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="0.37"
+      velocity="5.61" />
+  </joint>
+  <link
+    name="thumb_l2">
+    <inertial>
+      <origin
+        xyz="0.021926 0.00020302 9.7353E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.010346" />
+      <inertia
+        ixx="4.6802E-07"
+        ixy="5.726E-08"
+        ixz="1.5393E-11"
+        iyy="2.4622E-06"
+        iyz="4.7897E-11"
+        izz="2.4327E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/thumb_l2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/thumb_l2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_j2"
+    type="revolute">
+    <origin
+      xyz="0 0.03 0"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="thumb_l1" />
+    <child
+      link="thumb_l2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+  </joint>
+  <link
+    name="thumb_l3">
+    <inertial>
+      <origin
+        xyz="0.0099715 0.00045398 -2.5524E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.004997" />
+      <inertia
+        ixx="1.7179E-07"
+        ixy="2.5186E-08"
+        ixz="7.6937E-12"
+        iyy="4.632E-07"
+        iyz="-6.3833E-11"
+        izz="4.9237E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/thumb_l3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://miitzhand_description/meshes/thumb_l3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_j3"
+    type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="1.9249E-05 -1.4988E-15 -4.8418E-15" />
+    <parent
+      link="thumb_l2" />
+    <child
+      link="thumb_l3" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="0.37"
+      velocity="5.61" />
+    <mimic joint="thumb_j2" multiplier="1" offset="0" />
+  </joint>
+
+<transmission name="thumb1_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="thumb_j1">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="thumb1_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<transmission name="thumb2_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="thumb_j2">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="thumb2_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<transmission name="thumb3_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="thumb_j3">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="thumb3_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<gazebo>
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+  	<joint>thumb_j3</joint>
+  	<mimicJoint>thumb_j2</mimicJoint>
+  	<multiplier>1.0</multiplier>
+  	<offset>0.0</offset>
+  	<maxEffort>30.0</maxEffort>
+  	<sensitiveness>0.0</sensitiveness>
+  </plugin>
+</gazebo>
+
+<transmission name="index1_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="index_j1">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="index1_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<transmission name="index2_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="index_j2">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="index2_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<gazebo>
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+  	<joint>index_j2</joint>
+  	<mimicJoint>index_j1</mimicJoint>
+  	<multiplier>1.0</multiplier>
+  	<offset>0.0</offset>
+  	<maxEffort>30.0</maxEffort>
+  	<sensitiveness>0.0</sensitiveness>
+  </plugin>
+</gazebo>
+
+<transmission name="index3_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="index_j3">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="index3_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<gazebo>
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+  	<joint>index_j3</joint>
+  	<mimicJoint>index_j1</mimicJoint>
+  	<multiplier>1.0</multiplier>
+  	<offset>0.0</offset>
+  	<maxEffort>30.0</maxEffort>
+  	<sensitiveness>0.0</sensitiveness>
+  </plugin>
+</gazebo>
+
+<transmission name="middle1_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="middle_j1">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="middle1_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<transmission name="middle2_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="middle_j2">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="middle2_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<gazebo>
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+  	<joint>middle_j2</joint>
+  	<mimicJoint>middle_j1</mimicJoint>
+  	<multiplier>1.0</multiplier>
+  	<offset>0.0</offset>
+  	<maxEffort>30.0</maxEffort>
+  	<sensitiveness>0.0</sensitiveness>
+  </plugin>
+</gazebo>
+
+<transmission name="middle3_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="middle_j3">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="middle3_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<gazebo>
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+  	<joint>middle_j3</joint>
+  	<mimicJoint>middle_j1</mimicJoint>
+  	<multiplier>1.0</multiplier>
+  	<offset>0.0</offset>
+  	<maxEffort>30.0</maxEffort>
+  	<sensitiveness>0.0</sensitiveness>
+  </plugin>
+</gazebo>
+
+<transmission name="ring1_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="ring_j1">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="ring1_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<transmission name="ring2_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="ring_j2">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="ring2_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<gazebo>
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+  	<joint>ring_j2</joint>
+  	<mimicJoint>ring_j1</mimicJoint>
+  	<multiplier>1.0</multiplier>
+  	<offset>0.0</offset>
+  	<maxEffort>30.0</maxEffort>
+  	<sensitiveness>0.0</sensitiveness>
+  </plugin>
+</gazebo>
+
+<transmission name="ring3_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="ring_j3">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="ring3_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<gazebo>
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+  	<joint>ring_j3</joint>
+  	<mimicJoint>ring_j1</mimicJoint>
+  	<multiplier>1.0</multiplier>
+  	<offset>0.0</offset>
+  	<maxEffort>30.0</maxEffort>
+  	<sensitiveness>0.0</sensitiveness>
+  </plugin>
+</gazebo>
+
+<transmission name="little1_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="little_j1">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="little1_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<transmission name="little2_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="little_j2">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="little2_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<gazebo>
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+  	<joint>little_j2</joint>
+  	<mimicJoint>little_j1</mimicJoint>
+  	<multiplier>1.0</multiplier>
+  	<offset>0.0</offset>
+  	<maxEffort>30.0</maxEffort>
+  	<sensitiveness>0.0</sensitiveness>
+  </plugin>
+</gazebo>
+
+<transmission name="little3_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="little_j3">
+                <hardwareInterface>EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="little3_motor">
+                <mechanicalReduction>1.87</mechanicalReduction>
+        </actuator>
+</transmission>
+
+<gazebo>
+  <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+  	<joint>little_j3</joint>
+  	<mimicJoint>little_j1</mimicJoint>
+  	<multiplier>1.0</multiplier>
+  	<offset>0.0</offset>
+ 	<maxEffort>30.0</maxEffort>
+  	<sensitiveness>0.0</sensitiveness>
+  </plugin>
+</gazebo>
+
+<gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+     	<robotNamespace>/miitzhand</robotNamespace>
+     	<controlPeriod>0.001</controlPeriod>
+     	<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+</gazebo>
+</robot>
-- 
2.12.0