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dex/drill_1.glb

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dex/table.glb

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shadow_hand/LICENSE

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+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
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+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
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+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
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+
+   Copyright 2022 Shadow Robot Company Ltd
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.

shadow_hand/README.md

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+### Modifications to URDF
+
+The initial `dae` meshes found in
+the [shadow hand repository](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/components/f_knuckle)
+were identical or very similar for the `f_knuckle`. As a result, we retained only one of these. The same process was
+applied to meshes of other parts, with duplicates being removed to enhance the clarity of the file structure.
+
+For the `distal` finger, we have only kept the `pst` version, which does not include the biotac sensor.
+
+In addition, we have increased the inertia for all fingertip links to resolve the position drive problem in SAPIEN and
+IsaacGym.
+
+Almost all meshes have been modified to improve visual quality and collision management.

shadow_hand/bimanual.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
+<robot name="bimanual_shadowhand_motor">
+  <material name="Grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="LightGrey">
+    <color rgba="0.6 0.6 0.6 1.0"/>
+  </material>
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="rh_forearm"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <link name="rh_forearm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.09"/>
+      <mass value="3.0"/>
+      <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry name="rh_forearm_visual">
+        <mesh filename="meshes/visual/forearm/forearm_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_grey">
+        <color rgba="0.90000 0.90000 0.90000 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry name="rh_forearm_collision">
+        <mesh filename="meshes/visual/forearm/forearm_collision_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <!-- wrist mount -->
+    <collision>
+      <origin rpy="0 0.78 0" xyz="0 -0.01 0.181"/>
+      <geometry>
+        <box size="0.07 0.07 0.07"/>
+      </geometry>
+    </collision>
+    <!-- TODO: Make a decision on whether to add the connector or not -->
+    <!--visual>
+        <origin rpy="0 -1.57 -1.57" xyz="0.0 0.067 0.0045"/>
+        <geometry name="${prefix}cable_extr_visualisation">
+          <mesh filename="meshes/visual/cable_connector/cable_connector_base_${hand_version}.dae" scale="0.001 0.001 0.001" />
+        </geometry>
+      </visual-->
+  </link>
+  <gazebo reference="rh_forearm">
+    <selfCollide>false</selfCollide>
+  </gazebo>
+  <link name="rh_wrist">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.029"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.000035" ixy="0.0" ixz="0.0" iyy="0.000064" iyz="0.0" izz="0.0000438"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_wrist_visual">
+        <mesh filename="meshes/visual/wrist/wrist_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 1.5708 0" xyz="0 0 0"/>
+      <geometry name="rh_wrist_collision_geom">
+        <cylinder length="0.030" radius="0.0135"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="-0.026 0 0.034"/>
+      <geometry>
+        <cylinder length="0.010" radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0.031 0 0.034"/>
+      <geometry>
+        <cylinder length="0.010" radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0.7854 0" xyz="-0.021 0 0.011"/>
+      <geometry>
+        <box size="0.027 0.018 0.010"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 -0.7854 0" xyz="0.026 0 0.010"/>
+      <geometry>
+        <box size="0.027 0.018 0.010"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_WRJ2" type="revolute">
+    <parent link="rh_forearm"/>
+    <child link="rh_wrist"/>
+    <origin rpy="0 0 0" xyz="0 -0.010 0.21301"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.523598775598" upper="0.174532925199" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_palm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.035"/>
+      <mass value="0.3"/>
+      <inertia ixx="0.0003581" ixy="0.0" ixz="0.0" iyy="0.0005287" iyz="0.0" izz="0.000191"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_palm_visual">
+        <mesh filename="meshes/visual/palm/palm_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.011 0.0085 0.038"/>
+      <geometry name="rh_palm_collision_geom">
+        <box size="0.062 0.007 0.098"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.002 -0.0035 0.038"/>
+      <geometry>
+        <box size="0.036 0.017 0.098"/>
+      </geometry>
+    </collision>
+    <!-- palm complement below first finger -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.029 -0.0035 0.082"/>
+      <geometry>
+        <box size="0.026 0.017 0.010"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0.2 0 0.25" xyz="0.0265 -0.001 0.070"/>
+      <geometry>
+        <box size="0.026 0.014 0.018"/>
+      </geometry>
+    </collision>
+    <!-- thumb pulp side -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0315 -0.0085 0.001"/>
+      <geometry>
+        <box size="0.021 0.027 0.024"/>
+      </geometry>
+    </collision>
+    <!-- thumb pulp central -->
+    <collision>
+      <origin rpy="0 0 -0.48" xyz="0.0125 -0.015 0.009"/>
+      <geometry>
+        <box size="0.022 0.005 0.040"/>
+      </geometry>
+    </collision>
+    <!-- above middle finger-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.011 0 0.089"/>
+      <geometry>
+        <box size="0.018 0.024 0.004"/>
+      </geometry>
+    </collision>
+    <!-- metacarpal side-->
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.03 0 0.009"/>
+      <geometry>
+        <box size="0.020 0.024 0.040"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_ee_fixed_joint" type="fixed">
+    <parent link="rh_palm"/>
+    <child link="rh_manipulator"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.05"/>
+  </joint>
+  <link name="rh_manipulator"/>
+  <joint name="rh_WRJ1" type="revolute">
+    <parent link="rh_wrist"/>
+    <child link="rh_palm"/>
+    <origin rpy="0 0 0" xyz="0 0 0.034"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="30" lower="-0.698131700798" upper="0.488692190558" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_imu"/>
+  <joint name="rh_palm_to_imu" type="fixed">
+    <parent link="rh_palm"/>
+    <child link="rh_imu"/>
+    <origin rpy="-1.5707963 3.141592 0.0" xyz="0.01785 0.00765 0.049125"/>
+  </joint>
+  <link name="rh_ffknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="rh_ffknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
+      <geometry name="rh_ffknuckle_collision_geom">
+        <cylinder length="0.014" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_FFJ4" type="revolute">
+    <parent link="rh_palm"/>
+    <child link="rh_ffknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 0 0" xyz="0.033 0 0.095"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_ffproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_ffproximal_visual">
+        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="rh_ffproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_FFJ3" type="revolute">
+    <parent link="rh_ffknuckle"/>
+    <child link="rh_ffproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_ffmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_ffmiddle_visual">
+        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="rh_ffmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_FFJ2" type="revolute">
+    <parent link="rh_ffproximal"/>
+    <child link="rh_ffmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_ffdistal">
+    <inertial>
+      <mass value="0.012"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_ffdistal_visual">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_ffdistal_collision_geom">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_FFJ1" type="revolute">
+    <parent link="rh_ffmiddle"/>
+    <child link="rh_ffdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_fftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="rh_FFtip" type="fixed">
+    <parent link="rh_ffdistal"/>
+    <child link="rh_fftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="rh_mfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="rh_mfknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
+      <geometry name="rh_mfknuckle_collision_geom">
+        <cylinder length="0.014" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_MFJ4" type="revolute">
+    <parent link="rh_palm"/>
+    <child link="rh_mfknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 0 0" xyz="0.011 0 0.099"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_mfproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_mfproximal_visual">
+        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="rh_mfproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_MFJ3" type="revolute">
+    <parent link="rh_mfknuckle"/>
+    <child link="rh_mfproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_mfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_mfmiddle_visual">
+        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="rh_mfmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_MFJ2" type="revolute">
+    <parent link="rh_mfproximal"/>
+    <child link="rh_mfmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_mfdistal">
+    <inertial>
+      <mass value="0.012"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_mfdistal_visual">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_mfdistal_collision_geom">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_MFJ1" type="revolute">
+    <parent link="rh_mfmiddle"/>
+    <child link="rh_mfdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <gazebo reference="rh_MFJ1">
+    <provideFeedback>1</provideFeedback>
+    <implicitSpringDamper>1</implicitSpringDamper>
+  </gazebo>
+  <link name="rh_mftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="rh_MFtip" type="fixed">
+    <parent link="rh_mfdistal"/>
+    <child link="rh_mftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="rh_rfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="rh_rfknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
+      <geometry name="rh_rfknuckle_collision_geom">
+        <cylinder length="0.014" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_RFJ4" type="revolute">
+    <parent link="rh_palm"/>
+    <child link="rh_rfknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 0 0" xyz="-0.011 0 0.095"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_rfproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_rfproximal_visual">
+        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="rh_rfproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_RFJ3" type="revolute">
+    <parent link="rh_rfknuckle"/>
+    <child link="rh_rfproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_rfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_rfmiddle_visual">
+        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="rh_rfmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_RFJ2" type="revolute">
+    <parent link="rh_rfproximal"/>
+    <child link="rh_rfmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_rfdistal">
+    <inertial>
+      <mass value="0.012"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_rfdistal_visual">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_rfdistal_collision_geom">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_RFJ1" type="revolute">
+    <parent link="rh_rfmiddle"/>
+    <child link="rh_rfdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_rftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="rh_RFtip" type="fixed">
+    <parent link="rh_rfdistal"/>
+    <child link="rh_rftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="rh_lfmetacarpal">
+    <inertial>
+      <origin rpy="0 0.9599 0" xyz="0.0317486764706 0 0.0223529411765"/>
+      <mass value="0.030"/>
+      <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0.9599 0" xyz="0 0 0"/>
+      <geometry name="rh_lfmetacarpal_visual">
+        <mesh filename="meshes/visual/lf_metacarpal/lf_metacarpal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0.9599 0" xyz="0.026986375 0 0.019"/>
+      <geometry name="rh_lfmetacarpal_collision_geom">
+        <box size="0.018 0.024 0.040"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_LFJ5" type="revolute">
+    <parent link="rh_palm"/>
+    <child link="rh_lfmetacarpal"/>
+    <origin rpy="0 -0.9599 0" xyz="-0.033 0 0.02071"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_lfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="rh_lfknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
+      <geometry name="rh_lfknuckle_collision_geom">
+        <cylinder length="0.014" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_LFJ4" type="revolute">
+    <parent link="rh_lfmetacarpal"/>
+    <child link="rh_lfknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 0.9599 0" xyz="0.05397275 0 0.03779463"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_lfproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_lfproximal_visual">
+        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="rh_lfproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_LFJ3" type="revolute">
+    <parent link="rh_lfknuckle"/>
+    <child link="rh_lfproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_lfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_lfmiddle_visual">
+        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="rh_lfmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_LFJ2" type="revolute">
+    <parent link="rh_lfproximal"/>
+    <child link="rh_lfmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_lfdistal">
+    <inertial>
+      <mass value="0.012"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_lfdistal_visual">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_lfdistal_collision_geom">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_LFJ1" type="revolute">
+    <parent link="rh_lfmiddle"/>
+    <child link="rh_lfdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rh_lftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="rh_LFtip" type="fixed">
+    <parent link="rh_lfdistal"/>
+    <child link="rh_lftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="rh_thbase">
+    <inertial>
+      <mass value="0.010"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00000016" ixy="0.0" ixz="0.0" iyy="0.00000016" iyz="0.0" izz="0.00000016"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_thbase_visual">
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thbase_material">
+        <color rgba="0.5 0.5 0.5 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_thbase_collision_geom">
+        <sphere radius="0.011"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_THJ5" type="revolute">
+    <parent link="rh_palm"/>
+    <child link="rh_thbase"/>
+    <origin rpy="-0.785398163397 0 -1.57079632679" xyz="0.034 -0.00858 0.029"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="5.0" lower="-1.0471975512" upper="1.0471975512" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="rh_thproximal">
+    <inertial>
+      <mass value="0.040"/>
+      <origin rpy="0 0 0" xyz="0 0 0.019"/>
+      <inertia ixx="0.0000136" ixy="0.0" ixz="0.0" iyy="0.0000136" iyz="0.0" izz="0.00000313"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <geometry name="rh_thproximal_visual">
+        <mesh filename="meshes/visual/th_proximal/th_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thproximal_material">
+        <color rgba="0.2 0.2 0.2 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.020"/>
+      <geometry name="rh_thproximal_collision_geom">
+        <cylinder length="0.018" radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_THJ4" type="revolute">
+    <parent link="rh_thbase"/>
+    <child link="rh_thproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="3" lower="0.0" upper="1.2217304764" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="rh_thhub">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.0000003"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_thhub_visual">
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thhub_material">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_thhub_collision_geom">
+        <sphere radius="0.010"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_THJ3" type="revolute">
+    <parent link="rh_thproximal"/>
+    <child link="rh_thhub"/>
+    <origin rpy="0 0 0" xyz="0 0 0.038"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="2.0" lower="-0.209439510239" upper="0.209439510239" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="rh_thmiddle">
+    <inertial>
+      <mass value="0.020"/>
+      <origin rpy="0 0 0" xyz="0 0 0.016"/>
+      <inertia ixx="0.0000051" ixy="0.0" ixz="0.0" iyy="0.0000051" iyz="0.0" izz="0.00000121"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <geometry name="rh_thmiddle_visual">
+        <mesh filename="meshes/visual/th_middle/th_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.012"/>
+      <geometry name="rh_thmiddle_collision_geom">
+        <cylinder length="0.018" radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.019"/>
+      <geometry>
+        <sphere radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0.032"/>
+      <geometry>
+        <cylinder length="0.014" radius="0.010"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_THJ2" type="revolute">
+    <parent link="rh_thhub"/>
+    <child link="rh_thmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2.0" lower="-0.698131700798" upper="0.698131700798" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <!-- common -->
+  <link name="rh_thdistal">
+    <inertial>
+      <mass value="0.016"/>
+      <origin rpy="0 0 0" xyz="0 0 0.01375"/>
+      <inertia ixx="0.0000021" ixy="0.0" ixz="0.0" iyy="0.0000022" iyz="0.0" izz="0.000001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_thdistal_visual">
+        <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rh_thmiddle_collision_geom">
+        <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rh_THJ1" type="revolute">
+    <parent link="rh_thmiddle"/>
+    <child link="rh_thdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.032"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1.0" lower="-0.261799387799" upper="1.57079632679" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="rh_thtip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="rh_thtip" type="fixed">
+    <parent link="rh_thdistal"/>
+    <child link="rh_thtip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0275"/>
+  </joint>
+  <link name="lh_forearm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.09"/>
+      <mass value="3.0"/>
+      <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry name="lh_forearm_visual">
+        <mesh filename="meshes/visual/forearm/forearm_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="light_grey">
+        <color rgba="0.90000 0.90000 0.90000 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry name="lh_forearm_collision">
+        <mesh filename="meshes/visual/forearm/forearm_collision_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <!-- wrist mount -->
+    <collision>
+      <origin rpy="0 0.78 0" xyz="0 -0.01 0.181"/>
+      <geometry>
+        <box size="0.07 0.07 0.07"/>
+      </geometry>
+    </collision>
+    <!-- TODO: Make a decision on whether to add the connector or not -->
+    <!--visual>
+        <origin rpy="0 -1.57 -1.57" xyz="0.0 0.067 0.0045"/>
+        <geometry name="${prefix}cable_extr_visualisation">
+          <mesh filename="meshes/visual/cable_connector/cable_connector_base_${hand_version}.dae" scale="0.001 0.001 0.001" />
+        </geometry>
+      </visual-->
+  </link>
+  <link name="lh_wrist">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.029"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.000035" ixy="0.0" ixz="0.0" iyy="0.000064" iyz="0.0" izz="0.0000438"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_wrist_visual">
+        <mesh filename="meshes/visual/wrist/wrist_E3M5.dae" scale="-0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 1.5708 0" xyz="0 0 0"/>
+      <geometry name="lh_wrist_collision_geom">
+        <cylinder length="0.030" radius="0.0135"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0.026 0 0.034"/>
+      <geometry>
+        <cylinder length="0.010" radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="-0.031 0 0.034"/>
+      <geometry>
+        <cylinder length="0.010" radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 -0.7854 0" xyz="0.021 0 0.011"/>
+      <geometry>
+        <box size="0.027 0.018 0.010"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0.7854 0" xyz="-0.026 0 0.010"/>
+      <geometry>
+        <box size="0.027 0.018 0.010"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_WRJ2" type="revolute">
+    <parent link="lh_forearm"/>
+    <child link="lh_wrist"/>
+    <origin rpy="0 0 0" xyz="0 -0.010 0.21301"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="10" lower="-0.523598775598" upper="0.174532925199" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_palm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.035"/>
+      <mass value="0.3"/>
+      <inertia ixx="0.0003581" ixy="0.0" ixz="0.0" iyy="0.0005287" iyz="0.0" izz="0.000191"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_palm_visual">
+        <mesh filename="meshes/visual/palm/palm_E3M5.dae" scale="-0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.011 0.0085 0.038"/>
+      <geometry name="lh_palm_collision_geom">
+        <box size="0.062 0.007 0.098"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.002 -0.0035 0.038"/>
+      <geometry>
+        <box size="0.036 0.017 0.098"/>
+      </geometry>
+    </collision>
+    <!-- palm complement below first finger -->
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.029 -0.0035 0.082"/>
+      <geometry>
+        <box size="0.026 0.017 0.010"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0.2 0 -0.25" xyz="-0.0265 -0.001 0.070"/>
+      <geometry>
+        <box size="0.026 0.014 0.018"/>
+      </geometry>
+    </collision>
+    <!-- thumb pulp side -->
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0315 -0.0085 0.001"/>
+      <geometry>
+        <box size="0.021 0.027 0.024"/>
+      </geometry>
+    </collision>
+    <!-- thumb pulp central -->
+    <collision>
+      <origin rpy="0 0 0.48" xyz="-0.0125 -0.015 0.009"/>
+      <geometry>
+        <box size="0.022 0.005 0.040"/>
+      </geometry>
+    </collision>
+    <!-- above middle finger-->
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.011 0 0.089"/>
+      <geometry>
+        <box size="0.018 0.024 0.004"/>
+      </geometry>
+    </collision>
+    <!-- metacarpal side-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.03 0 0.009"/>
+      <geometry>
+        <box size="0.020 0.024 0.040"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_ee_fixed_joint" type="fixed">
+    <parent link="lh_palm"/>
+    <child link="lh_manipulator"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.05"/>
+  </joint>
+  <link name="lh_manipulator"/>
+  <joint name="lh_WRJ1" type="revolute">
+    <parent link="lh_wrist"/>
+    <child link="lh_palm"/>
+    <origin rpy="0 0 0" xyz="0 0 0.034"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="30" lower="-0.698131700798" upper="0.488692190558" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_imu"/>
+  <joint name="lh_palm_to_imu" type="fixed">
+    <parent link="lh_palm"/>
+    <child link="lh_imu"/>
+    <origin rpy="-1.5707963 3.141592 0.0" xyz="0.01785 0.00765 0.049125"/>
+  </joint>
+  <link name="lh_ffknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="lh_ffknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
+      <geometry name="lh_ffknuckle_collision_geom">
+        <cylinder length="0.014" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_FFJ4" type="revolute">
+    <parent link="lh_palm"/>
+    <child link="lh_ffknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 0 0" xyz="-0.033 0 0.095"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_ffproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_ffproximal_visual">
+        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="lh_ffproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_FFJ3" type="revolute">
+    <parent link="lh_ffknuckle"/>
+    <child link="lh_ffproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_ffmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_ffmiddle_visual">
+        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="lh_ffmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_FFJ2" type="revolute">
+    <parent link="lh_ffproximal"/>
+    <child link="lh_ffmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_ffdistal">
+    <inertial>
+      <mass value="0.012"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_ffdistal_visual">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_ffdistal_collision_geom">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_FFJ1" type="revolute">
+    <parent link="lh_ffmiddle"/>
+    <child link="lh_ffdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_fftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="lh_FFtip" type="fixed">
+    <parent link="lh_ffdistal"/>
+    <child link="lh_fftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="lh_mfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="lh_mfknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
+      <geometry name="lh_mfknuckle_collision_geom">
+        <cylinder length="0.014" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_MFJ4" type="revolute">
+    <parent link="lh_palm"/>
+    <child link="lh_mfknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 0 0" xyz="-0.011 0 0.099"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_mfproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_mfproximal_visual">
+        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="lh_mfproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_MFJ3" type="revolute">
+    <parent link="lh_mfknuckle"/>
+    <child link="lh_mfproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_mfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_mfmiddle_visual">
+        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="lh_mfmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_MFJ2" type="revolute">
+    <parent link="lh_mfproximal"/>
+    <child link="lh_mfmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_mfdistal">
+    <inertial>
+      <mass value="0.012"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_mfdistal_visual">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_mfdistal_collision_geom">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_MFJ1" type="revolute">
+    <parent link="lh_mfmiddle"/>
+    <child link="lh_mfdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_mftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="lh_MFtip" type="fixed">
+    <parent link="lh_mfdistal"/>
+    <child link="lh_mftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="lh_rfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="lh_rfknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
+      <geometry name="lh_rfknuckle_collision_geom">
+        <cylinder length="0.014" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_RFJ4" type="revolute">
+    <parent link="lh_palm"/>
+    <child link="lh_rfknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 0 0" xyz="0.011 0 0.095"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_rfproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_rfproximal_visual">
+        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="lh_rfproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_RFJ3" type="revolute">
+    <parent link="lh_rfknuckle"/>
+    <child link="lh_rfproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_rfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_rfmiddle_visual">
+        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="lh_rfmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_RFJ2" type="revolute">
+    <parent link="lh_rfproximal"/>
+    <child link="lh_rfmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_rfdistal">
+    <inertial>
+      <mass value="0.012"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_rfdistal_visual">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_rfdistal_collision_geom">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_RFJ1" type="revolute">
+    <parent link="lh_rfmiddle"/>
+    <child link="lh_rfdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_rftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="lh_RFtip" type="fixed">
+    <parent link="lh_rfdistal"/>
+    <child link="lh_rftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="lh_lfmetacarpal">
+    <inertial>
+      <origin rpy="0 -0.9599 0" xyz="-0.0317486764706 0 0.0223529411765"/>
+      <mass value="0.030"/>
+      <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0.9599 0" xyz="0 0 0"/>
+      <geometry name="lh_lfmetacarpal_visual">
+        <mesh filename="meshes/visual/lf_metacarpal/lf_metacarpal_E3M5.dae" scale="-0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.9599 0" xyz="-0.026986375 0 0.019"/>
+      <geometry name="lh_lfmetacarpal_collision_geom">
+        <box size="0.018 0.024 0.040"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_LFJ5" type="revolute">
+    <parent link="lh_palm"/>
+    <child link="lh_lfmetacarpal"/>
+    <origin rpy="0 0.9599 0" xyz="0.033 0 0.02071"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_lfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="lh_lfknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
+      <geometry name="lh_lfknuckle_collision_geom">
+        <cylinder length="0.014" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_LFJ4" type="revolute">
+    <parent link="lh_lfmetacarpal"/>
+    <child link="lh_lfknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 -0.9599 0" xyz="-0.05397275 0 0.03779463"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_lfproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_lfproximal_visual">
+        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="lh_lfproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_LFJ3" type="revolute">
+    <parent link="lh_lfknuckle"/>
+    <child link="lh_lfproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_lfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_lfmiddle_visual">
+        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="lh_lfmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_LFJ2" type="revolute">
+    <parent link="lh_lfproximal"/>
+    <child link="lh_lfmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_lfdistal">
+    <inertial>
+      <mass value="0.012"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_lfdistal_visual">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_lfdistal_collision_geom">
+        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_LFJ1" type="revolute">
+    <parent link="lh_lfmiddle"/>
+    <child link="lh_lfdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_lftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="lh_LFtip" type="fixed">
+    <parent link="lh_lfdistal"/>
+    <child link="lh_lftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="lh_thbase">
+    <inertial>
+      <mass value="0.010"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00000016" ixy="0.0" ixz="0.0" iyy="0.00000016" iyz="0.0" izz="0.00000016"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_thbase_visual">
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thbase_material">
+        <color rgba="0.5 0.5 0.5 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_thbase_collision_geom">
+        <sphere radius="0.011"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_THJ5" type="revolute">
+    <parent link="lh_palm"/>
+    <child link="lh_thbase"/>
+    <origin rpy="-0.785398163397 0 1.57079632679" xyz="-0.034 -0.00858 0.029"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="5.0" lower="-1.0471975512" upper="1.0471975512" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="lh_thproximal">
+    <inertial>
+      <mass value="0.040"/>
+      <origin rpy="0 0 0" xyz="0 0 0.019"/>
+      <inertia ixx="0.0000136" ixy="0.0" ixz="0.0" iyy="0.0000136" iyz="0.0" izz="0.00000313"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <geometry name="lh_thproximal_visual">
+        <mesh filename="meshes/visual/th_proximal/th_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thproximal_material">
+        <color rgba="0.2 0.2 0.2 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.020"/>
+      <geometry name="lh_thproximal_collision_geom">
+        <cylinder length="0.018" radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_THJ4" type="revolute">
+    <parent link="lh_thbase"/>
+    <child link="lh_thproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="3" lower="0.0" upper="1.2217304764" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="lh_thhub">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.0000003"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_thhub_visual">
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thhub_material">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_thhub_collision_geom">
+        <sphere radius="0.010"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_THJ3" type="revolute">
+    <parent link="lh_thproximal"/>
+    <child link="lh_thhub"/>
+    <origin rpy="0 0 0" xyz="0 0 0.038"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="2.0" lower="-0.209439510239" upper="0.209439510239" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="lh_thmiddle">
+    <inertial>
+      <mass value="0.020"/>
+      <origin rpy="0 0 0" xyz="0 0 0.016"/>
+      <inertia ixx="0.0000051" ixy="0.0" ixz="0.0" iyy="0.0000051" iyz="0.0" izz="0.00000121"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <geometry name="lh_thmiddle_visual">
+        <mesh filename="meshes/visual/th_middle/th_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.012"/>
+      <geometry name="lh_thmiddle_collision_geom">
+        <cylinder length="0.018" radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.019"/>
+      <geometry>
+        <sphere radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0.032"/>
+      <geometry>
+        <cylinder length="0.014" radius="0.010"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_THJ2" type="revolute">
+    <parent link="lh_thhub"/>
+    <child link="lh_thmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2.0" lower="-0.698131700798" upper="0.698131700798" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lh_thdistal">
+    <inertial>
+      <mass value="0.016"/>
+      <origin rpy="0 0 0" xyz="0 0 0.01375"/>
+      <inertia ixx="0.0000021" ixy="0.0" ixz="0.0" iyy="0.0000022" iyz="0.0" izz="0.000001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_thdistal_visual">
+        <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lh_thmiddle_collision_geom">
+        <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lh_THJ1" type="revolute">
+    <parent link="lh_thmiddle"/>
+    <child link="lh_thdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.032"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1.0" lower="-0.261799387799" upper="1.57079632679" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="lh_thtip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="lh_thtip" type="fixed">
+    <parent link="lh_thdistal"/>
+    <child link="lh_thtip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0275"/>
+  </joint>
+  <joint name="right_hand_to_left_hand" type="fixed">
+    <parent link="rh_forearm"/>
+    <child link="lh_forearm"/>
+    <origin rpy="0.0 0.0 0.0" xyz="-0.4 0.0 0.0"/>
+  </joint>
+</robot>
+

shadow_hand/meshes/collision/f_distal_pst.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:60fc4387b60b9362cdbc5b40d8f3869247cc5049de75fc6e7e7ae32cf8e87e33
+size 29008

shadow_hand/meshes/collision/f_knuckle_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7b76866ef85a388f79dba377293c7d12a17154d369c225e760afa9ccd5fa6b22
+size 7362

shadow_hand/meshes/collision/forearm_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ae348fdf00c61695dbd484455070101e901d89f3977a7585ae575742cec4a3be
+size 29880

shadow_hand/meshes/collision/th_middle_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:de7278a75a3cc202f7186f0e0701c22c2cd6cdaf6ea68f991cbefb819d7bce38
+size 321510

shadow_hand/meshes/collision/th_proximal_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
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+size 353175

shadow_hand/meshes/visual/f_distal_pst.glb

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+version https://git-lfs.github.com/spec/v1
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+size 393712

shadow_hand/meshes/visual/f_distal_pst.mtl

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+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

shadow_hand/meshes/visual/f_distal_pst.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:04d7ddc2166089b0c670806c1d1eb4b47b8f8c48428c00581b0fe64d59d4e5f8
+size 378684

shadow_hand/meshes/visual/f_knuckle_E3M5.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4cfd18bc698f89813900fd1a743459b35f95c8aa3d873e37bd5749ef4cdef16a
+size 41528

shadow_hand/meshes/visual/f_knuckle_E3M5.mtl

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+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 640.000000
+Ka 0.600000 0.600000 0.600000
+Kd 0.500000 0.500000 0.500000
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3

shadow_hand/meshes/visual/f_knuckle_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1452690f5f93875665e5b23f022e89fa04f2a6aab6e49ae0112db7821f759792
+size 36617

shadow_hand/meshes/visual/f_middle_E3M5.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:88aa04c5c084e64eb1d210c74638d552fb3efbdff6e5875f0193fe22a40a695d
+size 33764

shadow_hand/meshes/visual/f_middle_E3M5.mtl

@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

shadow_hand/meshes/visual/f_middle_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
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+size 29082

shadow_hand/meshes/visual/f_proximal_E3M5.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9c43089eac777d05cf902620931b81870aa3bfb811370ffa58d34548577d8c85
+size 78800

shadow_hand/meshes/visual/f_proximal_E3M5.mtl

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+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

shadow_hand/meshes/visual/f_proximal_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
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+size 71175

shadow_hand/meshes/visual/forearm_E3M5.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:82bbef2f9dead84f527fef66bd1993895477388daeb1550b9bcd7a25e713754c
+size 471844

shadow_hand/meshes/visual/forearm_E3M5.mtl

@@ -0,0 +1,32 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 640.000000
+Ka 0.600000 0.600000 0.600000
+Kd 0.500000 0.500000 0.500000
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl Material_006
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.219610 0.219610 0.219610
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 1

shadow_hand/meshes/visual/forearm_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:67f719d4131da5edd1c43e8a560481087074833e3fe4580f4ffe0ea3d07691fb
+size 442301

shadow_hand/meshes/visual/lf_metacarpal_E3M5.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3be27d164d5eafa1ab272d755f5f363454c5204102135ef0bb486045520b878f
+size 107936

shadow_hand/meshes/visual/lf_metacarpal_E3M5.mtl

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+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

shadow_hand/meshes/visual/lf_metacarpal_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:def539fcdefb4399ae69cb4fc5b2c5296b43ec7015c5581c2b90e7643a030a62
+size 98772

shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b69f0ad7600c6f1eb7c74ba563d0acaa5864b31531e94a660ba8bf5cd7a23817
+size 107824

shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.mtl

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+# Blender 4.0.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dbe1dc639cd9c212229a4010f60ebc56b174ff6891eac05410e6bee2965f927f
+size 43756

shadow_hand/meshes/visual/palm_E3M5.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dcb1a4b613d28970100090830626a09ad1ca4d5479278880226baa7ed915a3fc
+size 857944

shadow_hand/meshes/visual/palm_E3M5.mtl

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+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

shadow_hand/meshes/visual/palm_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:529d6bcf4f356aeaece8a9c884d98bc399d039fdb2f3174449aeaaf262aa812d
+size 807151

shadow_hand/meshes/visual/palm_E3M5_left.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9871bc32f2385187a199fa840c08528201f5ba05d690388b652326e6eb8714
+size 858264

shadow_hand/meshes/visual/palm_E3M5_left.mtl

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+# Blender 4.0.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

shadow_hand/meshes/visual/palm_E3M5_left.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7b3a9f8e00602aaba900fe107a19e7a9ab480750faa63812311d5009711bdf
+size 385205

shadow_hand/meshes/visual/th_distal_pst.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 353408

shadow_hand/meshes/visual/th_distal_pst.mtl

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+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

shadow_hand/meshes/visual/th_distal_pst.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:da8ca3aa9aeceeb6aac940a6db0605cac4014dcd496133080bc5787e217346ce
+size 338390

shadow_hand/meshes/visual/th_middle_E3M5.glb

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+version https://git-lfs.github.com/spec/v1
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+size 95600

shadow_hand/meshes/visual/th_middle_E3M5.mtl

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+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
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shadow_hand/meshes/visual/th_middle_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:49416cd8b0ca8a976749cc7c954ce56a59fc9e4664c68fc931d14a1a53ffd2ba
+size 85987

shadow_hand/meshes/visual/th_proximal_E3M5.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a16729bc49472397cc02663998e903f49cab353b9385d4469b801d6c9ceadb9
+size 30940

shadow_hand/meshes/visual/th_proximal_E3M5.mtl

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+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
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shadow_hand/meshes/visual/th_proximal_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c021a0c066743274d4133d0e85146a3fa3433102616a5e56e2aa18ff602bf996
+size 26737

shadow_hand/meshes/visual/wrist_E3M5.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7f04596fc7e45d5f33f797a20187842433e36c560cde1eae8fe6f51728b915e
+size 132856

shadow_hand/meshes/visual/wrist_E3M5.mtl

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+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 640.000000
+Ka 0.800000 0.800000 0.800000
+Kd 0.500000 0.500000 0.500000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3

shadow_hand/meshes/visual/wrist_E3M5.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:29724f4640064dde710b3725cbd37b0ee1ba8e000b0b5ad402d66bbba284bd29
+size 124663

shadow_hand/shadow_hand_left.urdf

@@ -0,0 +1,896 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
+<robot name="shadow_left">
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="forearm"/>
+    <origin rpy="0.0 0.0 1.57079" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <link name="forearm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.09"/>
+      <mass value="3.0"/>
+      <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry name="forearm_visual">
+        <mesh filename="meshes/visual/forearm_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry name="forearm_collision">
+        <mesh filename="meshes/collision/forearm_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <!-- wrist mount -->
+    <collision>
+      <origin rpy="0 0.785395 0" xyz="0 -0.01 0.165"/>
+      <geometry>
+        <box size="0.07 0.07 0.07"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="wrist">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.029"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.000035" ixy="0.0" ixz="0.0" iyy="0.000064" iyz="0.0" izz="0.0000438"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="wrist_visual">
+        <mesh filename="meshes/visual/wrist_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 1.5708 0" xyz="0 0 0"/>
+      <geometry name="wrist_collision_geom">
+        <cylinder length="0.030" radius="0.0135"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0.026 0 0.034"/>
+      <geometry>
+        <cylinder length="0.010" radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="-0.031 0 0.034"/>
+      <geometry>
+        <cylinder length="0.010" radius="0.011"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 -0.7854 0" xyz="0.021 0 0.011"/>
+      <geometry>
+        <box size="0.027 0.018 0.010"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0.7854 0" xyz="-0.026 0 0.010"/>
+      <geometry>
+        <box size="0.027 0.018 0.010"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="WRJ2" type="revolute">
+    <parent link="forearm"/>
+    <child link="wrist"/>
+    <origin rpy="0 0 0" xyz="0 -0.010 0.21301"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="10" lower="-0.523598775598" upper="0.174532925199" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="palm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.035"/>
+      <mass value="0.3"/>
+      <inertia ixx="0.0003581" ixy="0.0" ixz="0.0" iyy="0.0005287" iyz="0.0" izz="0.000191"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="palm_visual">
+        <mesh filename="meshes/visual/palm_E3M5_left.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.011 0.0085 0.042"/>
+      <geometry name="palm_collision_geom">
+        <box size="0.062 0.007 0.090"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.002 -0.0035 0.042"/>
+      <geometry>
+        <box size="0.036 0.017 0.090"/>
+      </geometry>
+    </collision>
+    <!-- palm complement below first finger -->
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.029 -0.0035 0.082"/>
+      <geometry>
+        <box size="0.026 0.017 0.010"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0.2 0 -0.25" xyz="-0.0265 -0.001 0.070"/>
+      <geometry>
+        <box size="0.026 0.014 0.018"/>
+      </geometry>
+    </collision>
+    <!-- thumb pulp side -->
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0315 -0.0085 0.001"/>
+      <geometry>
+        <box size="0.021 0.027 0.016"/>
+      </geometry>
+    </collision>
+    <!-- thumb pulp central -->
+    <collision>
+      <origin rpy="0 0 0.48" xyz="-0.0125 -0.015 0.009"/>
+      <geometry>
+        <box size="0.022 0.005 0.032"/>
+      </geometry>
+    </collision>
+    <!-- above middle finger-->
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.011 0 0.089"/>
+      <geometry>
+        <box size="0.018 0.024 0.004"/>
+      </geometry>
+    </collision>
+    <!-- metacarpal side-->
+    <collision>
+      <origin rpy="0 0 0" xyz="0.03 0 0.009"/>
+      <geometry>
+        <box size="0.020 0.024 0.032"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ee_fixed_joint" type="fixed">
+    <parent link="palm"/>
+    <child link="ee_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.00"/>
+  </joint>
+  <link name="ee_link"/>
+  <joint name="WRJ1" type="revolute">
+    <parent link="wrist"/>
+    <child link="palm"/>
+    <origin rpy="0 0 0" xyz="0 0 0.034"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="30" lower="-0.698131700798" upper="0.488692190558" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="imu"/>
+  <joint name="palm_to_imu" type="fixed">
+    <parent link="palm"/>
+    <child link="imu"/>
+    <origin rpy="-1.5707963 3.141592 0.0" xyz="0.01785 0.00765 0.049125"/>
+  </joint>
+  <link name="ffknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="ffknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
+      <geometry name="lh_ffknuckle_collision_geom">
+        <mesh filename="meshes/collision/f_knuckle_E3M5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ4" type="revolute">
+    <parent link="palm"/>
+    <child link="ffknuckle"/>
+    <origin rpy="0 0 0" xyz="-0.033 0 0.095"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="ffproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="ffproximal_visual">
+        <mesh filename="meshes/visual/f_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="ffproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ3" type="revolute">
+    <parent link="ffknuckle"/>
+    <child link="ffproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="ffmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="ffmiddle_visual">
+        <mesh filename="meshes/visual/f_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="ffmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ2" type="revolute">
+    <parent link="ffproximal"/>
+    <child link="ffmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="ffdistal">
+    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
+    <inertial>
+      <mass value="0.12"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.0000094" ixy="0.0" ixz="0.0" iyy="0.000011" iyz="0.0" izz="0.0000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="ffdistal_visual">
+        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="ffdistal_collision_geom">
+        <mesh filename="meshes/collision/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ1" type="revolute">
+    <parent link="ffmiddle"/>
+    <child link="ffdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="fftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="FFtip" type="fixed">
+    <parent link="ffdistal"/>
+    <child link="fftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="mfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="mfknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry name="ffknuckle_visual">
+        <mesh filename="meshes/collision/f_knuckle_E3M5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ4" type="revolute">
+    <parent link="palm"/>
+    <child link="mfknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 0 0" xyz="-0.011 0 0.099"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="mfproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="mfproximal_visual">
+        <mesh filename="meshes/visual/f_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="mfproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ3" type="revolute">
+    <parent link="mfknuckle"/>
+    <child link="mfproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="mfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="mfmiddle_visual">
+        <mesh filename="meshes/visual/f_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="mfmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ2" type="revolute">
+    <parent link="mfproximal"/>
+    <child link="mfmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="mfdistal">
+    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
+    <inertial>
+      <mass value="0.12"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.0000094" ixy="0.0" ixz="0.0" iyy="0.000011" iyz="0.0" izz="0.0000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="mfdistal_visual">
+        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="mfdistal_collision_geom">
+        <mesh filename="meshes/collision/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ1" type="revolute">
+    <parent link="mfmiddle"/>
+    <child link="mfdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="mftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="MFtip" type="fixed">
+    <parent link="mfdistal"/>
+    <child link="mftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="rfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="rfknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry name="ffknuckle_visual">
+        <mesh filename="meshes/collision/f_knuckle_E3M5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ4" type="revolute">
+    <parent link="palm"/>
+    <child link="rfknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 0 0" xyz="0.011 0 0.095"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rfproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rfproximal_visual">
+        <mesh filename="meshes/visual/f_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="rfproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ3" type="revolute">
+    <parent link="rfknuckle"/>
+    <child link="rfproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rfmiddle_visual">
+        <mesh filename="meshes/visual/f_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="rfmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ2" type="revolute">
+    <parent link="rfproximal"/>
+    <child link="rfmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rfdistal">
+    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
+    <inertial>
+      <mass value="0.12"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.0000094" ixy="0.0" ixz="0.0" iyy="0.000011" iyz="0.0" izz="0.0000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rfdistal_visual">
+        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="rfdistal_collision_geom">
+        <mesh filename="meshes/collision/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ1" type="revolute">
+    <parent link="rfmiddle"/>
+    <child link="rfdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="rftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="RFtip" type="fixed">
+    <parent link="rfdistal"/>
+    <child link="rftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="lfmetacarpal">
+    <inertial>
+      <origin rpy="0 0.9599 0" xyz="0.0317486764706 0 0.0223529411765"/>
+      <mass value="0.030"/>
+      <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 -0.9599 0" xyz="0 0 0"/>
+      <geometry name="lfmetacarpal_visual">
+        <mesh filename="meshes/visual/lf_metacarpal_E3M5_left.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.9599 0" xyz="-0.026986375 0 0.019"/>
+      <geometry name="lfmetacarpal_collision_geom">
+        <box size="0.018 0.024 0.040"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ5" type="revolute">
+    <parent link="palm"/>
+    <child link="lfmetacarpal"/>
+    <origin rpy="0 0.9599 0" xyz="0.033 0 0.02071"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="0.785398163397" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.008"/>
+      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
+      <geometry name="lfknuckle_visual">
+        <mesh filename="meshes/visual/f_knuckle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry name="ffknuckle_visual">
+        <mesh filename="meshes/collision/f_knuckle_E3M5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ4" type="revolute">
+    <parent link="lfmetacarpal"/>
+    <child link="lfknuckle"/>
+    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
+    <origin rpy="0 -0.9599 0" xyz="-0.05397275 0 0.03779463"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lfproximal">
+    <inertial>
+      <mass value="0.030"/>
+      <origin xyz="0 0 0.0225"/>
+      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lfproximal_visual">
+        <mesh filename="meshes/visual/f_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry name="lfproximal_collision_geom">
+        <cylinder length="0.040" radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ3" type="revolute">
+    <parent link="lfknuckle"/>
+    <child link="lfproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <mass value="0.017"/>
+      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lfmiddle_visual">
+        <mesh filename="meshes/visual/f_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
+      <geometry name="lfmiddle_collision_geom">
+        <cylinder length="0.025" radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ2" type="revolute">
+    <parent link="lfproximal"/>
+    <child link="lfmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lfdistal">
+    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
+    <inertial>
+      <mass value="0.12"/>
+      <origin xyz="0 0 0.012"/>
+      <inertia ixx="0.0000094" ixy="0.0" ixz="0.0" iyy="0.000011" iyz="0.0" izz="0.0000053"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lfdistal_visual">
+        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="lfdistal_collision_geom">
+        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ1" type="revolute">
+    <parent link="lfmiddle"/>
+    <child link="lfdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    <axis xyz="1 0 0"/>
+    <!-- standard distal joint -->
+    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="lftip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="LFtip" type="fixed">
+    <parent link="lfdistal"/>
+    <child link="lftip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.026"/>
+  </joint>
+  <link name="thbase">
+    <inertial>
+      <mass value="0.010"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00000016" ixy="0.0" ixz="0.0" iyy="0.00000016" iyz="0.0" izz="0.00000016"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="thbase_visual">
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="thbase_collision_geom">
+        <sphere radius="0.011"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ5" type="revolute">
+    <parent link="palm"/>
+    <child link="thbase"/>
+    <origin rpy="-0.785398163397 0 1.57079632679" xyz="-0.034 -0.00858 0.029"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="5.0" lower="-1.0471975512" upper="1.0471975512" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="thproximal">
+    <inertial>
+      <mass value="0.040"/>
+      <origin rpy="0 0 0" xyz="0 0 0.019"/>
+      <inertia ixx="0.0000136" ixy="0.0" ixz="0.0" iyy="0.0000136" iyz="0.0" izz="0.00000313"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <geometry name="thproximal_visual">
+        <mesh filename="meshes/visual/th_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <geometry name="thproximal_collision">
+        <mesh filename="meshes/collision/th_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ4" type="revolute">
+    <parent link="thbase"/>
+    <child link="thproximal"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="3" lower="0.0" upper="1.2217304764" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="thhub">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.0000003"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="thhub_collision_geom">
+        <sphere radius="0.010"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ3" type="revolute">
+    <parent link="thproximal"/>
+    <child link="thhub"/>
+    <origin rpy="0 0 0" xyz="0 0 0.038"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="2.0" lower="-0.209439510239" upper="0.209439510239" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="thmiddle">
+    <inertial>
+      <mass value="0.020"/>
+      <origin rpy="0 0 0" xyz="0 0 0.016"/>
+      <inertia ixx="0.0000051" ixy="0.0" ixz="0.0" iyy="0.0000051" iyz="0.0" izz="0.00000121"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
+      <geometry name="thmiddle_visual">
+        <mesh filename="meshes/visual/th_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry name="thmiddle_collision">
+        <mesh filename="meshes/collision/th_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ2" type="revolute">
+    <parent link="thhub"/>
+    <child link="thmiddle"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="2.0" lower="-0.698131700798" upper="0.698131700798" velocity="2.0"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <!-- common -->
+  <link name="thdistal">
+    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
+    <inertial>
+      <mass value="0.16"/>
+      <origin rpy="0 0 0" xyz="0 0 0.01375"/>
+      <inertia ixx="0.000021" ixy="0.0" ixz="0.0" iyy="0.000022" iyz="0.0" izz="0.00001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="thdistal_visual">
+        <mesh filename="meshes/visual/th_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry name="thmiddle_collision_geom">
+        <mesh filename="meshes/visual/th_distal_pst.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ1" type="revolute">
+    <parent link="thmiddle"/>
+    <child link="thdistal"/>
+    <origin rpy="0 0 0" xyz="0 0 0.032"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1.0" lower="-0.261799387799" upper="1.57079632679" velocity="4.0"/>
+    <dynamics damping="0.2"/>
+  </joint>
+  <link name="thtip">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="THtip" type="fixed">
+    <parent link="thdistal"/>
+    <child link="thtip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0275"/>
+  </joint>
+</robot>