add origami hand

hands/origami_hand/assets/500000000001_8_1.stl

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hands/origami_hand/assets/540000000007_4_1.stl

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hands/origami_hand/assets/i1.stl

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hands/origami_hand/assets/i2.stl

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hands/origami_hand/assets/i3.stl

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hands/origami_hand/assets/m1.stl

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hands/origami_hand/assets/m2.stl

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hands/origami_hand/assets/m3.stl

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hands/origami_hand/assets/p1.stl

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hands/origami_hand/assets/p2.stl

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hands/origami_hand/assets/p3.stl

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hands/origami_hand/assets/part_1.stl

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+oid sha256:cc01a9556103636375a69e179afaf6e0790ca3ee861484b052ca7a688f06f87b
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hands/origami_hand/assets/part_2.stl

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hands/origami_hand/assets/r1.stl

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hands/origami_hand/assets/r2.stl

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hands/origami_hand/assets/r3.stl

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hands/origami_hand/assets/t1.stl

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hands/origami_hand/assets/t2.stl

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hands/origami_hand/assets/t3.stl

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hands/origami_hand/assets/t4.stl

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+oid sha256:861633d5efb0ebdfcabe51254b7c61b3f2dd67119426683ce4ecac4e07846947
+size 431384

hands/origami_hand/origami_hand_right.urdf

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+<?xml version="1.0" ?>
+<robot name="onshape">
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+      <origin xyz="0.0060714187805480553106 -0.019494980509104808952 -0.020927158677777907975" rpy="-1.5707963267948430452 2.1295587997715661316e-14 -3.141592653589793116"/>
+      <geometry>
+        <mesh filename="assets/t4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="dip_t" type="revolute">
+    <origin xyz="-3.8564916732621717932e-05 -0.038500552179839192535 -6.8025481267263224194e-05" rpy="-0.00019703774938394422568 0.00015527142312957397914 1.0893822014221158837e-05"/>
+    <parent link="thumb_dp"/>
+    <child link="thumb_tip"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" velocity="20" lower="-1.7453292519943295336" upper="0.785398163397448279"/>
+    <joint_properties friction="0.0"/>
+  </joint>
+  <joint name="mcp_t" type="revolute">
+    <origin xyz="-0.010400000000000750658 -0.059999800000001261846 -0.023599999999900252851" rpy="-1.1999537453667003845e-16 -1.5707963140946192837 0"/>
+    <parent link="thumb_pp"/>
+    <child link="thumb_dp"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" velocity="20" lower="-1.8325957145940461324" upper="0.785398163397448279"/>
+    <joint_properties friction="0.0"/>
+  </joint>
+  <joint name="cmc_t2" type="revolute">
+    <origin xyz="-0.0031479612979940724618 -0.040374910195936822288 0.0052750329215571489794" rpy="-1.2680493445054867863 -0.059693201235992220111 3.1414884687288249232"/>
+    <parent link="thumb_mc_right"/>
+    <child link="thumb_pp"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" velocity="20" lower="-1.2217304763960306069" upper="1.570796326794896558"/>
+    <joint_properties friction="0.0"/>
+  </joint>
+  <joint name="cmc_t" type="revolute">
+    <origin xyz="0.01466339118003531436 0.026642338251219234435 0.033611244645212742799" rpy="0.7310493186081153949 -0.23348225521831431073 2.9391115213016831831"/>
+    <parent link="palm_right"/>
+    <child link="thumb_mc_right"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1" velocity="20" lower="-2.356194490192344837" upper="0.1745329251994329478"/>
+    <joint_properties friction="0.0"/>
+  </joint>
+</robot>