Add original WujiHand URDF (visual mesh, not capsule collision)

.gitattributes

@@ -71,3 +71,9 @@ wujihand/right/right_finger3_tip_link.stl filter=lfs diff=lfs merge=lfs -text
 wujihand/right/right_finger4_tip_link.stl filter=lfs diff=lfs merge=lfs -text
 wujihand/right/right_finger5_tip_link.stl filter=lfs diff=lfs merge=lfs -text
 wujihand/right/right_palm_link.stl filter=lfs diff=lfs merge=lfs -text
+wujihand_original/meshes/right/finger1_link1.STL filter=lfs diff=lfs merge=lfs -text
+wujihand_original/meshes/right/finger2_tip_link.STL filter=lfs diff=lfs merge=lfs -text
+wujihand_original/meshes/right/finger3_tip_link.STL filter=lfs diff=lfs merge=lfs -text
+wujihand_original/meshes/right/finger4_tip_link.STL filter=lfs diff=lfs merge=lfs -text
+wujihand_original/meshes/right/finger5_tip_link.STL filter=lfs diff=lfs merge=lfs -text
+wujihand_original/meshes/right/palm_link.STL filter=lfs diff=lfs merge=lfs -text

wujihand_original/meshes/right/finger1_link1.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10b2805191b1aaa7052c9ae6113a157a45d6eec3e4d8bba524268b3101aa020d
+size 357484

wujihand_original/meshes/right/finger2_tip_link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f978f0b8851cbf98386716e22995dc79b386a493c92fc63694aa4d5ff0356e3f
+size 112784

wujihand_original/meshes/right/finger3_tip_link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:654e078e08806e54646311a6da9255ef939a238fea49981e30084f381b8cf5b8
+size 112784

wujihand_original/meshes/right/finger4_tip_link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:055844854428492f2982e95cdfdbd0c52fd937b904e0828b5b117932b8334c27
+size 113484

wujihand_original/meshes/right/finger5_tip_link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7241e418d4d30f4a4621442bbf3234606badc1255af7485bd198b8ecb17f8dd
+size 112784

wujihand_original/meshes/right/palm_link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de356372f39e9996dfb8e4d507b110ed523ad09c105af749a2cdf0ef6dbf11a0
+size 574684

wujihand_original/urdf/wuji_hand_right.urdf

@@ -0,0 +1,1494 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="wujihand-right-v1.0.0">
+  <link
+    name="palm_link">
+    <inertial>
+      <origin
+        xyz="-0.00303828029862807 0.000190792669572603 0.0362773590584524"
+        rpy="0 0 0" />
+      <mass
+        value="0.2179" />
+      <inertia
+        ixx="0.000176278316905"
+        ixy="3.23565665431e-06"
+        ixz="8.6719208984e-06"
+        iyy="0.000118992163986"
+        iyz="-8.4006144779e-06"
+        izz="7.60800840283e-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/palm_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/palm_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="finger1_link1">
+    <inertial>
+      <origin
+        xyz="-0.00246679671583713 -0.0014417245290539 0.00777599954897647"
+        rpy="0 0 0" />
+      <mass
+        value="0.0075" />
+      <inertia
+        ixx="3.24117320788e-07"
+        ixy="-1.75134974563e-08"
+        ixz="-6.22647271731e-11"
+        iyy="2.95812272232e-07"
+        iyz="3.91922955342e-08"
+        izz="2.32280908489e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint1"
+    type="revolute">
+    <origin
+      xyz="0.00852444051536966 0.0205754004992104 0.0287119465316217"
+      rpy="-1.32802443797267 -0.371613529401197 -0.730700470955738" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger1_link1" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.0448"
+      upper="1.6508"
+      effort="0.6"
+      velocity="8.58701992" />
+  </joint>
+  <link
+    name="finger1_link2">
+    <inertial>
+      <origin
+        xyz="0.00116856027557744 -1.30515414766344E-05 0.0149181493921574"
+        rpy="0 0 0" />
+      <mass
+        value="0.0248" />
+      <inertia
+        ixx="2.56283770223e-06"
+        ixy="1.87209734389e-08"
+        ixz="8.79602890589e-09"
+        iyy="2.62449214432e-06"
+        iyz="1.79308351665e-08"
+        izz="6.79717587461e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint2"
+    type="revolute">
+    <origin
+      xyz="-0.00475489770145063 -0.00601914141399163 0.0141320977109324"
+      rpy="-0.574275025049342 -0.236773483165492 1.80339766411149" />
+    <parent
+      link="finger1_link1" />
+    <child
+      link="finger1_link2" />
+    <axis
+      xyz="-0 -1 -0" />
+    <limit
+      lower="-0.1659"
+      upper="0.9339"
+      effort="0.6"
+      velocity="11.10029404" />
+  </joint>
+  <link
+    name="finger1_link3">
+    <inertial>
+      <origin
+        xyz="-0.00112498098406098 0.000183915318447688 0.0128077785583931"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="1.42180444436e-06"
+        ixy="2.26985695136e-11"
+        ixz="-2.20906056846e-08"
+        iyy="1.38858772258e-06"
+        iyz="-1.31713798765e-09"
+        izz="4.49694700789e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint3"
+    type="revolute">
+    <origin
+      xyz="0.00026670985188593 -0.000991501581071832 0.0331656190850421"
+      rpy="0.0490494507279603 0.0173112436656061 -1.90854042682209" />
+    <parent
+      link="finger1_link2" />
+    <child
+      link="finger1_link3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger1_link4">
+    <inertial>
+      <origin
+        xyz="-0.00118455321540082 0.000436793366497296 0.00873369661619583"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="7.8272204459e-07"
+        ixy="2.67180143461e-10"
+        ixz="-1.12960976984e-08"
+        iyy="8.01195397748e-07"
+        iyz="-1.90582636952e-09"
+        izz="4.29889843738e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -5.00007422951686E-05 0.0289999996622586"
+      rpy="0 0 0" />
+    <parent
+      link="finger1_link3" />
+    <child
+      link="finger1_link4" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger1_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.00018224614869659 7.73403732112765E-06 -0.00417767715130674"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="1.18451584942e-07"
+        ixy="-4.99255243801e-12"
+        ixz="4.34640344713e-09"
+        iyy="1.17922644803e-07"
+        iyz="-1.86588951353e-12"
+        izz="1.0462803484e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger1_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.00104623528319934 0.000443681117589321 0.0293000000558906"
+      rpy="0 0 0" />
+    <parent
+      link="finger1_link4" />
+    <child
+      link="finger1_tip_link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="100"
+      velocity="10" />
+  </joint>
+  <link
+    name="finger2_link1">
+    <inertial>
+      <origin
+        xyz="-0.00132914835339807 -1.71487374769214E-07 0.000319872917129871"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="8.24632369264e-08"
+        ixy="1.07697382029e-11"
+        ixz="-2.51459929867e-08"
+        iyy="7.17523114493e-08"
+        iyz="-2.83543094769e-12"
+        izz="7.65560451098e-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.00587008921485247 0.0294338632809287 0.0919165306699325"
+      rpy="-0.111142508461784 -0.0711392477320386 -0.218224846477167" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger2_link1" />
+    <axis
+      xyz="0 0.999999906158207 0.000433224625971368" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203047484" />
+  </joint>
+  <link
+    name="finger2_link2">
+    <inertial>
+      <origin
+        xyz="-0.00607489059709313 7.04149221950751E-06 0.0174058121210225"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="4.73967852474e-06"
+        ixy="-1.02749346183e-10"
+        ixz="-1.58310324489e-07"
+        iyy="4.76601124302e-06"
+        iyz="-1.46400602445e-09"
+        izz="8.75951556121e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint2"
+    type="revolute">
+    <origin
+      xyz="0.00220000017524629 0 0.00400000534382478"
+      rpy="0.000433224548403847 0 0" />
+    <parent
+      link="finger2_link1" />
+    <child
+      link="finger2_link2" />
+    <axis
+      xyz="-0.999999999978991 0 0" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.115781022" />
+  </joint>
+  <link
+    name="finger2_link3">
+    <inertial>
+      <origin
+        xyz="-0.00112282992985933 4.42928884479554E-06 0.0155095350538171"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="1.45317444728e-06"
+        ixy="-1.67215507966e-11"
+        ixz="3.48307875673e-08"
+        iyy="1.41954371728e-06"
+        iyz="1.25880032492e-09"
+        izz="4.50044735649e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.00460023735005808 1.55817705260984E-05 0.0366176526568538"
+      rpy="-0.000433222790942502 0 -0.000268612691124751" />
+    <parent
+      link="finger2_link2" />
+    <child
+      link="finger2_link3" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger2_link4">
+    <inertial>
+      <origin
+        xyz="-0.000894376529038848 1.70416598961991E-05 0.00535176431211343"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="5.0710446566e-07"
+        ixy="9.11749211126e-11"
+        ixz="1.62269914941e-08"
+        iyy="3.57636819488e-07"
+        iyz="8.66358855481e-10"
+        izz="4.13132175596e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0290000000150095"
+      rpy="0 0 0" />
+    <parent
+      link="finger2_link3" />
+    <child
+      link="finger2_link4" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger2_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.000203263238125159 1.4940061998682E-06 -0.00931098362104524"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="1.33459490674e-07"
+        ixy="7.65310175844e-12"
+        ixz="5.04837223299e-09"
+        iyy="1.32217584294e-07"
+        iyz="-3.34260000493e-11"
+        izz="9.81858168805e-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger2_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.00104999539509563 0 0.0274000004481596"
+      rpy="0 0 0" />
+    <parent
+      link="finger2_link4" />
+    <child
+      link="finger2_tip_link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="100"
+      velocity="10" />
+  </joint>
+  <link
+    name="finger3_link1">
+    <inertial>
+      <origin
+        xyz="-0.00132913698572003 -1.35105834592891E-07 0.000319936782964769"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="8.24636630363e-08"
+        ixy="1.05255476198e-11"
+        ixz="-2.51464570939e-08"
+        iyy="7.17530085263e-08"
+        iyz="-3.06548070848e-12"
+        izz="7.65566479519e-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0104597238611628 0.00746146014385576 0.0895435117703666"
+      rpy="-0.00048411119168703 -0.087266465303481 0.000583871740106801" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger3_link1" />
+    <axis
+      xyz="0 0.999999906158095 0.000433224884501103" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203047484" />
+  </joint>
+  <link
+    name="finger3_link2">
+    <inertial>
+      <origin
+        xyz="-0.00607477271551802 7.04802703002747E-06 0.0174058548256302"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
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+        ixx="4.73968063722e-06"
+        ixy="-9.93071359495e-11"
+        ixz="-1.58340309001e-07"
+        iyy="4.76601364014e-06"
+        iyz="-1.45914109771e-09"
+        izz="8.75952299836e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint2"
+    type="revolute">
+    <origin
+      xyz="0.0022000005026625 0 0.00400000522628907"
+      rpy="0.000433224806924388 0 0" />
+    <parent
+      link="finger3_link1" />
+    <child
+      link="finger3_link2" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.115781022" />
+  </joint>
+  <link
+    name="finger3_link3">
+    <inertial>
+      <origin
+        xyz="-0.00112282864080627 4.39679506439392E-06 0.0155095424261443"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
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+        ixx="1.45317494404e-06"
+        ixy="-1.40948282386e-11"
+        ixz="3.48282217527e-08"
+        iyy="1.41954593131e-06"
+        iyz="1.25835561776e-09"
+        izz="4.50044546416e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.00460000064410125 1.55817799863825E-05 0.036617682393194"
+      rpy="-0.000433224785853114 0 -0.000268612686864552" />
+    <parent
+      link="finger3_link2" />
+    <child
+      link="finger3_link3" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger3_link4">
+    <inertial>
+      <origin
+        xyz="-0.000894355959527901 1.70486720565818E-05 0.00535176749909932"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="5.07103829988e-07"
+        ixy="8.95143845896e-11"
+        ixz="1.62278084329e-08"
+        iyy="3.57638959039e-07"
+        iyz="8.66476292107e-10"
+        izz="4.13132573694e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0290000000150094"
+      rpy="0 0 0" />
+    <parent
+      link="finger3_link3" />
+    <child
+      link="finger3_link4" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger3_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.000203282574199135 1.49706419718537E-06 -0.0086110157045298"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="1.3345938577e-07"
+        ixy="7.55791396731e-12"
+        ixz="5.04880087603e-09"
+        iyy="1.32216772202e-07"
+        iyz="-3.36661501243e-11"
+        izz="9.81861875872e-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger3_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.00104042865141054 0 0.0267000008801756"
+      rpy="0 0 0" />
+    <parent
+      link="finger3_link4" />
+    <child
+      link="finger3_tip_link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="100"
+      velocity="10" />
+  </joint>
+  <link
+    name="finger4_link1">
+    <inertial>
+      <origin
+        xyz="-0.00132913862113604 -1.28561818942344E-07 0.000319947594750139"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
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+        ixx="8.24638309779e-08"
+        ixy="1.05172265494e-11"
+        ixz="-2.51465967181e-08"
+        iyy="7.1753197822e-08"
+        iyz="-2.98297834266e-12"
+        izz="7.65568707425e-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0076648599285041 -0.0137122383759844 0.084428694586379"
+      rpy="0.0899413960034348 -0.0834355049367681 0.0471266288536016" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger4_link1" />
+    <axis
+      xyz="0 0.999999906157892 0.000433225355001288" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203047484" />
+  </joint>
+  <link
+    name="finger4_link2">
+    <inertial>
+      <origin
+        xyz="-0.00607477415013002 7.04800690908697E-06 0.0174058534366373"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
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+        ixx="4.73968021209e-06"
+        ixy="-9.93299564976e-11"
+        ixz="-1.58340373869e-07"
+        iyy="4.76601396156e-06"
+        iyz="-1.45932373178e-09"
+        izz="8.7595233487e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint2"
+    type="revolute">
+    <origin
+      xyz="0.00220000053755089 0 0.00400000510026774"
+      rpy="0.000433225366118357 0 0" />
+    <parent
+      link="finger4_link1" />
+    <child
+      link="finger4_link2" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.115781022" />
+  </joint>
+  <link
+    name="finger4_link3">
+    <inertial>
+      <origin
+        xyz="-0.00112281978000032 4.415354241602E-06 0.0155095445407365"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
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+        ixx="1.45317342759e-06"
+        ixy="-1.6024128714e-11"
+        ixz="3.48299632698e-08"
+        iyy="1.41954535578e-06"
+        iyz="1.25818955558e-09"
+        izz="4.50044869442e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.00459999999033558 1.55818004638833E-05 0.0366176824753135"
+      rpy="-0.000433225349833524 0 -0.000268612687102299" />
+    <parent
+      link="finger4_link2" />
+    <child
+      link="finger4_link3" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger4_link4">
+    <inertial>
+      <origin
+        xyz="-0.000894356856806141 1.70581575012659E-05 0.00535176692291561"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
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+        ixx="5.07104054865e-07"
+        ixy="8.88832844513e-11"
+        ixz="1.62277079154e-08"
+        iyy="3.57638206963e-07"
+        iyz="8.66782959474e-10"
+        izz="4.13132326341e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0290000000150089"
+      rpy="0 0 0" />
+    <parent
+      link="finger4_link3" />
+    <child
+      link="finger4_link4" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger4_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.00020321889223914 1.52797272489139E-06 -0.00861060047549556"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="1.33478692647e-07"
+        ixy="6.80712298637e-12"
+        ixz="5.05037538642e-09"
+        iyy="1.32227451261e-07"
+        iyz="-3.36788147885e-11"
+        izz="9.81807790633e-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger4_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.00104042861977702 0 0.026700000917914"
+      rpy="0 0 0" />
+    <parent
+      link="finger4_link4" />
+    <child
+      link="finger4_tip_link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="100"
+      velocity="10" />
+  </joint>
+  <link
+    name="finger5_link1">
+    <inertial>
+      <origin
+        xyz="-0.00132914013266503 -1.21383697752886E-07 0.000319968600092965"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="8.24640390473e-08"
+        ixy="1.05214686634e-11"
+        ixz="-2.51468144821e-08"
+        iyy="7.17534441126e-08"
+        iyz="-2.8320121791e-12"
+        izz="7.65572748716e-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.00226865106062467 -0.0340011106648613 0.0742813381426987"
+      rpy="0.192050433506504 -0.0925172356498861 0.157672818297325" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger5_link1" />
+    <axis
+      xyz="0 0.999999906157892 0.000433225353070638" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203047484" />
+  </joint>
+  <link
+    name="finger5_link2">
+    <inertial>
+      <origin
+        xyz="-0.0060747788344176 7.0481654495802E-06 0.0174058499757659"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="4.73967875661e-06"
+        ixy="-9.93299827894e-11"
+        ixz="-1.58340419083e-07"
+        iyy="4.76601491304e-06"
+        iyz="-1.45976546159e-09"
+        izz="8.75952354958e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint2"
+    type="revolute">
+    <origin
+      xyz="0.00220000070730803 0 0.00400000490038611"
+      rpy="0.000433225364229257 0 0" />
+    <parent
+      link="finger5_link1" />
+    <child
+      link="finger5_link2" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.115781022" />
+  </joint>
+  <link
+    name="finger5_link3">
+    <inertial>
+      <origin
+        xyz="-0.00112281626244697 4.43578851664489E-06 0.0155095521315327"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="1.45317385214e-06"
+        ixy="-1.77088315355e-11"
+        ixz="3.48328807897e-08"
+        iyy="1.41954533145e-06"
+        iyz="1.25700456988e-09"
+        izz="4.50044441489e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.0046 1.5582E-05 0.036618"
+      rpy="-0.00043323 0 -0.00026861" />
+    <parent
+      link="finger5_link2" />
+    <child
+      link="finger5_link3" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger5_link4">
+    <inertial>
+      <origin
+        xyz="-0.000894368185113745 1.70634219463887E-05 0.00535176183287062"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="5.07104915731e-07"
+        ixy="8.90910174322e-11"
+        ixz="1.62273540145e-08"
+        iyy="3.57636927053e-07"
+        iyz="8.67078158646e-10"
+        izz="4.13131990893e-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0 0.029"
+      rpy="0 0 0" />
+    <parent
+      link="finger5_link3" />
+    <child
+      link="finger5_link4" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger5_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.000203317522521486 1.48714111362219E-06 -0.00861106321403796"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="1.33459239781e-07"
+        ixy="7.45505532453e-12"
+        ixz="5.04921851401e-09"
+        iyy="1.32215698783e-07"
+        iyz="-3.31004127789e-11"
+        izz="9.81864148392e-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://wujihand-urdf/meshes/right/finger5_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.00104042861181322 0 0.0267000011472218"
+      rpy="0 0 0" />
+    <parent
+      link="finger5_link4" />
+    <child
+      link="finger5_tip_link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="0"
+      upper="0"
+      effort="100"
+      velocity="10" />
+  </joint>
+</robot>