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assets/gripper/ag95.urdf

@@ -0,0 +1,405 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from dh_robotics_ag95_gripper.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="dh_robotics_ag95_gripper" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace>/</robotNamespace>
+    </plugin>
+  </gazebo> -->
+  <!-- <link name="world"/>
+  <joint name="world_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="world"/>
+    <child link="gripper_root_link"/>
+  </joint> -->
+  <!-- <link name="gripper_root_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+      <geometry>
+        <box size="0.1 0.1 1.0"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+      <geometry>
+        <box size="0.1 0.1 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1e2"/>
+      <origin xyz="0.0 0.0 0.0"/>
+      <inertia ixx="0.000001" ixy="0.000000" ixz="0.000000" iyx="0.000000" iyy="0.000001" iyz="0.000000" izx="0.000000" izy="0.000000" izz="0.000001"/>
+    </inertial>
+  </link> -->
+  <!-- <joint name="ee_fixed_joint" type="fixed">
+    <parent link="gripper_root_link"/>
+    <child link="ee_link"/>
+    <origin rpy="0 0 0" xyz="0.05 0 0.85"/>
+  </joint> -->
+  <!-- <link name="ee_link"/> -->
+
+  <!-- <joint name="gripper_base_joint" type="fixed">
+    <parent link="ee_link"/>
+    <child link="gripper_base_link"/>
+    <origin rpy="1.57075 0 1.57075" xyz="0 0 0"/>
+  </joint> -->
+  <link name="gripper_base_link">
+    <visual>
+        <geometry>
+          <mesh filename="description/dh_robotics_ag95_description/meshes/visual/base_link.dae"  scale = "0.001 0.001 0.001"/>
+        </geometry>
+    </visual>
+    <collision>
+        <geometry>
+            <mesh filename="description/dh_robotics_ag95_description/meshes/visual/base_link.dae"  scale = "0.001 0.001 0.001"/>
+        </geometry>
+    </collision>
+        <inertial>
+          <mass value="0.83416" />
+            <origin xyz="0.0 0.0 0.0" />
+              <inertia ixx = "0.0013016" ixy = "-6.9374e-07" ixz = "5.9848e-07"
+                       iyx = "0.000000" iyy = "0.00049972" iyz = "2.0244E-07"
+                       izx = "0.000000" izy = "0.000000" izz = "0.001498" />
+       </inertial>
+    </link>
+  <gazebo reference="gripper_base_link">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <mu1>100000</mu1>
+    <mu2>100000</mu2>
+    <kp>100000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+  <joint name="gripper_finger1_joint" type="revolute">
+    <parent link="gripper_base_link"/>
+    <child link="gripper_finger1_knuckle_link"/>
+      <axis xyz="0 -1 0"/>
+      <origin rpy="0.0 0.0 3.14" xyz="-0.016 0 0.10586"/>
+      <limit lower="0.0" upper="0.6524" velocity="2.0" effort="1000"/>
+  </joint>
+  <joint name="gripper_finger2_joint" type="revolute">
+    <parent link="gripper_base_link"/>
+    <child link="gripper_finger2_knuckle_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.016  0 0.10586 "/>
+    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="1000"/>
+    <mimic joint="gripper_finger1_joint"/>
+  </joint>
+  <link name="gripper_finger1_knuckle_link">
+            <visual>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/crank_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/crank_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.011111" />
+                <origin xyz="0.0 0.0 0.0" />
+                <inertia ixx = "3.88172e-06" ixy = "-2.29456e-13" ixz = "8.33e-07"
+                         iyx = "0.000000" iyy = "1.92174e-06" iyz = "2.04435e-13"
+                         izx = "0.000000" izy = "0.000000" izz = "4.32374e-06" />
+            </inertial>
+        </link>
+  <gazebo reference="gripper_finger1_knuckle_link">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <mu1>100000</mu1>
+    <mu2>100000</mu2>
+    <kp>100000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+  <link name="gripper_finger2_knuckle_link">
+            <visual>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/crank_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/crank_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.011111" />
+                <origin xyz="0.0 0.0 0.0" />
+                <inertia ixx = "3.88172e-06" ixy = "-2.29456e-13" ixz = "8.33e-07"
+                         iyx = "0.000000" iyy = "1.92174e-06" iyz = "2.04435e-13"
+                         izx = "0.000000" izy = "0.000000" izz = "4.32374e-06" />
+            </inertial>
+        </link>
+  <gazebo reference="gripper_finger2_knuckle_link">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <mu1>100000</mu1>
+    <mu2>100000</mu2>
+    <kp>100000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+        <joint name="gripper_finger1_finger_joint" type="continuous">
+            <parent link="gripper_finger1_knuckle_link"/>
+            <child link="gripper_finger1_finger_link"/>
+            <axis xyz="0 -1 0"/>
+            <origin xyz="0.0292080077784 0.0 -0.0227132622407" rpy="0 0 0" />
+            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
+            <mimic joint="gripper_finger1_joint" multiplier="0.4563942" offset="0"/>
+        </joint>
+
+        <joint name="gripper_finger2_finger_joint" type="continuous">
+            <parent link="gripper_finger2_knuckle_link"/>
+            <child link="gripper_finger2_finger_link"/>
+            <axis xyz="0 -1 0"/>
+            <origin xyz="0.0292080077784 0.0 -0.0227132622407" rpy="0 0 0" />
+            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
+            <mimic joint="gripper_finger1_joint" multiplier="0.4563942" offset="0"/>
+        </joint>
+  <link name="gripper_finger1_finger_link">
+            <visual>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/rod_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/rod_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.0222871" />
+                <origin xyz="0.0 0.0 0.0" />
+                <inertia ixx = "8.72836e-06" ixy = "7.0843e-15" ixz = "-2.18833e-06"
+                         iyx = "-0.000002" iyy = "7.26157e-06" iyz = "7.6579e-15"
+                         izx = "0.000000" izy = "0.000000" izz = "3.3425e-06" />
+            </inertial>
+        </link>
+  <gazebo reference="gripper_finger1_finger_link">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <mu1>100000</mu1>
+    <mu2>100000</mu2>
+    <kp>100000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+  <link name="gripper_finger2_finger_link">
+<visual>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/rod_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/rod_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.0222871" />
+                <origin xyz="0.0 0.0 0.0" />
+                <inertia ixx = "8.72836e-06" ixy = "7.0843e-15" ixz = "-2.18833e-06"
+                         iyx = "-0.000002" iyy = "7.26157e-06" iyz = "7.6579e-15"
+                         izx = "0.000000" izy = "0.000000" izz = "3.3425e-06" />
+            </inertial>
+        </link>
+  <gazebo reference="gripper_finger2_finger_link">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <mu1>100000</mu1>
+    <mu2>100000</mu2>
+    <kp>100000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+
+  <joint name="gripper_finger1_inner_knuckle_joint" type="continuous">
+    <parent link="gripper_base_link"/>
+    <child link="gripper_finger1_inner_knuckle_link"/>
+            <axis xyz="0 -1 0"/>
+            <origin rpy="0.0 0.0 3.14" xyz="-0.016 0 0.10586"/>
+            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
+            <mimic joint="gripper_finger1_joint" multiplier="1.49462955"  offset="0"/>
+ </joint>
+  <joint name="gripper_finger2_inner_knuckle_joint" type="continuous">
+    <parent link="gripper_base_link"/>
+    <child link="gripper_finger2_inner_knuckle_link"/>
+            <axis xyz="0 -1 0"/>
+            <origin rpy="0.0 0.0 0.0" xyz="0.016 0 0.10586"/>
+            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
+            <mimic joint="gripper_finger1_joint" multiplier="1.49462955"  offset="0"/>
+  </joint>
+     <link name="gripper_finger1_inner_knuckle_link">
+            <visual>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/proximal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/proximal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.0318004" />
+                <origin xyz="0.0 0.0 0.0" />
+                <inertia ixx = "1.39848e-05" ixy = "-9.54763e-15" ixz = "-5.01422e-06"
+                         iyx = "0.000000" iyy = "1.04943e-05" iyz = "8.94585e-16"
+                         izx = "0.000000" izy = "0.000000" izz = "1.36183e-05" />
+            </inertial>
+      </link>
+  <gazebo reference="gripper_finger1_inner_knuckle_link">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <mu1>100000</mu1>
+    <mu2>100000</mu2>
+    <kp>100000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+<link name="gripper_finger2_inner_knuckle_link">
+            <visual>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/proximal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/proximal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.0318004" />
+                <origin xyz="0.0 0.0 0.0" />
+                <inertia ixx = "1.39848e-05" ixy = "-9.54763e-15" ixz = "-5.01422e-06"
+                         iyx = "0.000000" iyy = "1.04943e-05" iyz = "8.94585e-16"
+                         izx = "0.000000" izy = "0.000000" izz = "1.36183e-05" />
+            </inertial>
+        </link>
+   <gazebo reference="gripper_finger2_inner_knuckle_link">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <mu1>100000</mu1>
+    <mu2>100000</mu2>
+    <kp>100000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+<joint name="gripper_finger1_finger_tip_joint" type="continuous">
+    <parent link="gripper_finger1_inner_knuckle_link"/>
+    <child link="gripper_finger1_finger_tip_link"/>
+            <axis xyz="0 1 0"/>
+            <origin xyz="0.0394969463769 0.0 0.0382752038125 " rpy="0.0 0.0 0.0"/>
+            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
+            <mimic joint="gripper_finger1_joint" multiplier="1.49462955"/>
+        </joint>
+  <joint name="gripper_finger2_finger_tip_joint" type="continuous">
+    <parent link="gripper_finger2_inner_knuckle_link"/>
+    <child link="gripper_finger2_finger_tip_link"/>
+            <axis xyz="0 1 0"/>
+            <origin rpy="0.0 0.0 0.0" xyz="0.0394969463769  0.0 0.0382752038125  "/>
+            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
+            <mimic joint="gripper_finger1_joint" multiplier="1.49462955"/>
+  </joint>
+  <link name="gripper_finger1_finger_tip_link">
+            <visual>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/distal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/distal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.0124305" />
+                <origin xyz="0.0 0.0 0.0" />
+                <inertia ixx = "2.84217e-06" ixy = "-2.48048e-15" ixz = "8.24539e-07"
+                         iyx = "0.000000" iyy = "3.03961e-06" iyz = "2.16427e-13"
+                         izx = "0.000000" izy = "0.000000" izz = "1.11815e-06" />
+            </inertial>
+        </link> 
+  <gazebo reference="gripper_finger1_finger_tip_link">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <mu1>100000</mu1>
+    <mu2>100000</mu2>
+    <kp>100000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+  <link name="gripper_finger2_finger_tip_link">
+            <visual>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/distal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/distal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.0124305" />
+                <origin xyz="0.0 0.0 0.0" />
+                <inertia ixx = "2.84217e-06" ixy = "-2.48048e-15" ixz = "8.24539e-07"
+                         iyx = "0.000000" iyy = "3.03961e-06" iyz = "2.16427e-13"
+                         izx = "0.000000" izy = "0.000000" izz = "1.11815e-06" />
+            </inertial>
+        </link> 
+  <gazebo reference="gripper_finger2_finger_tip_link">
+    <implicitSpringDamper>1</implicitSpringDamper>
+    <mu1>100000</mu1>
+    <mu2>100000</mu2>
+    <kp>100000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+  
+    <transmission name="gripper_finger1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="gripper_finger1_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="gripper_finger1_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </actuator>
+  </transmission>
+  <gazebo>
+    <!-- loading plugin: mimic joints works in gazebo now -->
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_1">
+      <joint>gripper_finger1_joint</joint>
+      <mimicJoint>gripper_finger2_joint</mimicJoint>
+      <multiplier>1.0</multiplier>
+      <offset>0.0</offset>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_2">
+      <joint>gripper_finger1_joint</joint>
+      <mimicJoint>gripper_finger2_inner_knuckle_joint</mimicJoint>
+      <multiplier>1.49462955</multiplier>
+      <offset>0.0</offset>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_3">
+      <joint>gripper_finger1_joint</joint>
+      <mimicJoint>gripper_finger1_inner_knuckle_joint</mimicJoint>
+      <multiplier>1.49462955</multiplier>
+      <offset>0.0</offset>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_4">
+      <joint>gripper_finger1_joint</joint>
+      <mimicJoint>gripper_finger1_finger_tip_joint</mimicJoint>
+      <multiplier>1.49462955</multiplier>          
+      <offset>0.0</offset>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_5">
+      <joint>gripper_finger1_joint</joint>
+      <mimicJoint>gripper_finger2_finger_tip_joint</mimicJoint>
+      <multiplier>1.49462955</multiplier>          
+      <offset>0.0</offset>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_6">
+      <joint>gripper_finger1_joint</joint>
+      <mimicJoint>gripper_finger1_finger_joint</mimicJoint>
+      <multiplier>0.4563942</multiplier>
+      <offset>0.0</offset>
+    </plugin>
+    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_7">
+      <joint>gripper_finger1_joint</joint>
+      <mimicJoint>gripper_finger2_finger_joint</mimicJoint>
+      <multiplier>0.4563942</multiplier>
+      <offset>0.0</offset>
+    </plugin>
+  </gazebo>
+</robot>
+

assets/gripper/allegro.urdf

@@ -0,0 +1,503 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from allegro_hand_description_right.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="allegro_hand_right" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch 
+-->
+  <!-- ======================== BASE PARAMS ========================= -->
+  <!-- ======================== FINGER PARAMS ======================== -->
+  <!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+  <!--0.0435,   0.044981-->
+  <!--0.002298-->
+  <!--0.002298-->
+  <!-- ========================= THUMB PARAMS ========================= -->
+  <!-- ========================= LIMITS ========================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- BASE -->
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/base_link.STL"/>
+      </geometry>
+      <!-- LEFT -->
+      <!-- <origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/> -->
+      <!-- RIGHT -->
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- ============================================================================= -->
+  <!-- FINGERS -->
+  <!-- RIGHT HAND due to which finger is number 0 -->
+  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_2.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_6.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_7.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_8.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_10.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_11.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <mesh filename="description/allegro_hand_description/meshes/link_12.0_right.STL"/>
+        <!-- LEFT -->
+        <!-- <mesh filename="description/allegro_hand_description/meshes/link_12.0_left.STL" /> -->
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+      <!-- LEFT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${-.018/2} ${.029/2}"/> -->
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_13.0.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <!-- RIGHT -->
+    <origin xyz="-0.027 0.005 0.0399"/>
+    <!-- LEFT -->
+    <!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
+  </joint>
+  <link name="link_14.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_14.0.STL"/>
+      </geometry>
+      <material name="black">
+		  	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_15.0">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_15.0.STL"/>
+      </geometry>
+      <material name="black">
+    	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0423"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="description/allegro_hand_description/meshes/link_15.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+  <!--
+<xacro:thumb_left 
+	finger_num=			"3" 
+	offset_origin_x=	"-0.0182"	
+	offset_origin_y=	"-0.019333" 
+	offset_origin_z=	"-0.045987" 
+	
+	
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${95*DEG2RAD}"	
+	finger_angle_y=		"${90*DEG2RAD}"
+/>
+-->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- THUMB MACRO -->
+  <!-- END THUMB MACRO -->
+  <!-- THREE FINGER MACRO -->
+  <!-- [[END]] THREE FINGER MACRO -->
+</robot>

assets/gripper/barrett.urdf

@@ -0,0 +1,1071 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from bh_alone.urdf.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="bhand">
+  <!-- z-coordinate is not 0 because otherwise the hand base tilts when the simulation is started -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="hand_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="hand_base_link"/>
+  </joint>
+  <link name="hand_base_link"/>
+  <joint name="bh_base_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="hand_base_link"/>
+    <child link="bh_base_link"/>
+  </joint>
+  <!-- HAND BASE_LINK (RED) -->
+  <link name="bh_base_link">
+    <inertial>
+      <mass value="1.0"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/palm_280.dae"/>
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.75 0.75 0.75 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/palm_280.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- finger 3 -->
+  <!-- finger 32 link -->
+  <link name="bh_finger_32_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_31_link and BH_finger_32_link -->
+  <joint name="bh_j32_joint" type="revolute">
+    <parent link="bh_base_link"/>
+    <child link="bh_finger_32_link"/>
+    <origin rpy="1.5708 0 1.5708" xyz="0 -0.05 0.0754"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j32_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j32_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j32">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 33 link -->
+  <link name="bh_finger_33_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_32_link and BH_finger_33_link -->
+  <joint name="bh_j33_joint" type="revolute">
+    <parent link="bh_finger_32_link"/>
+    <child link="bh_finger_33_link"/>
+    <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+    <axis xyz="0 0 -1"/>
+    <mimic joint="bh_j32_joint" multiplier="0.3442622950819672"/>
+    <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j33_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j33_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j33">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 1 -->
+  <!-- finger 11 link -->
+  <link name="bh_finger_11_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/knuckle.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/knuckle.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between BH_palm_link and BH_finger_11_link -->
+  <joint name="bh_j11_joint" type="revolute">
+    <parent link="bh_base_link"/>
+    <child link="bh_finger_11_link"/>
+    <origin rpy="0 0 -1.5708" xyz="0.025 0 0.0415"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0" upper="3.1416" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j11_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j11_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j11">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 12 link -->
+  <link name="bh_finger_12_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_11_link and BH_finger_12_link -->
+  <joint name="bh_j12_joint" type="revolute">
+    <parent link="bh_finger_11_link"/>
+    <child link="bh_finger_12_link"/>
+    <origin rpy="1.5708 0 0" xyz="-0.05 0 0.0339"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j12_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j12_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j12">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 13 link -->
+  <link name="bh_finger_13_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_12_link and BH_finger_13_link -->
+  <joint name="bh_j13_joint" type="revolute">
+    <parent link="bh_finger_12_link"/>
+    <child link="bh_finger_13_link"/>
+    <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+    <axis xyz="0 0 -1"/>
+    <mimic joint="bh_j12_joint" multiplier="0.3442622950819672"/>
+    <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j13_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j13_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j13">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 2 -->
+  <!-- finger 21 link -->
+  <link name="bh_finger_21_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/knuckle.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/knuckle.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between BH_palm_link and BH_finger_21_link -->
+  <joint name="bh_j21_joint" type="revolute">
+    <parent link="bh_base_link"/>
+    <child link="bh_finger_21_link"/>
+    <origin rpy="0 0 -1.5708" xyz="-0.025 0 0.0415"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="bh_j11_joint" multiplier="1"/>
+    <limit effort="30.0" lower="0" upper="3.1416" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j21_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j21_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j21">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 12 link -->
+  <link name="bh_finger_22_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_21_link and BH_finger_22_link -->
+  <joint name="bh_j22_joint" type="revolute">
+    <parent link="bh_finger_21_link"/>
+    <child link="bh_finger_22_link"/>
+    <origin rpy="1.5708 -8.8281E-17 0" xyz="-0.05 0 0.0339"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j22_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j22_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j22">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 23 link -->
+  <link name="bh_finger_23_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_22_link and BH_finger_23_link -->
+  <joint name="bh_j23_joint" type="revolute">
+    <parent link="bh_finger_22_link"/>
+    <child link="bh_finger_23_link"/>
+    <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+    <axis xyz="0 0 -1"/>
+    <mimic joint="bh_j22_joint" multiplier="0.3442622950819672"/>
+    <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j23_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j23_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j23">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j11_joint</joint>
+      <mimicJoint>bh_j21_joint</mimicJoint>
+      <multiplier>1</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j12_joint</joint>
+      <mimicJoint>bh_j13_joint</mimicJoint>
+      <multiplier>0.344</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j22_joint</joint>
+      <mimicJoint>bh_j23_joint</mimicJoint>
+      <multiplier>0.344</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j32_joint</joint>
+      <mimicJoint>bh_j33_joint</mimicJoint>
+      <multiplier>0.344</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo reference="bh_base_link">
+    <material>Gazebo/White</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_31_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_32_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_33_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_11_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_12_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_13_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_21_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_22_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_23_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <!-- Imaginary joints for transform from tactile sensors -->
+  <!-- Radian value obtained from graspit description of 40 degrees -->
+  <joint name="bh_finger_14_joint" type="fixed">
+    <parent link="bh_finger_13_link"/>
+    <child link="bh_finger_14_link"/>
+    <origin rpy="0 0 0.698132" xyz="0 0 0"/>
+  </joint>
+  <link name="bh_finger_14_link"/>
+  <joint name="bh_finger_24_joint" type="fixed">
+    <parent link="bh_finger_23_link"/>
+    <child link="bh_finger_24_link"/>
+    <origin rpy="0 0 0.698132" xyz="0 0 0"/>
+  </joint>
+  <link name="bh_finger_24_link"/>
+  <joint name="bh_finger_34_joint" type="fixed">
+    <parent link="bh_finger_33_link"/>
+    <child link="bh_finger_34_link"/>
+    <origin rpy="0 0 0.698132" xyz="0 0 0"/>
+  </joint>
+  <link name="bh_finger_34_link"/>
+  <!-- Auto generated tactile sensor links -->
+  <joint name="bh_palm_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_1_link"/>
+  </joint>
+  <link name="bh_palm_sensor_1_link"/>
+  <joint name="bh_palm_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_2_link"/>
+  </joint>
+  <link name="bh_palm_sensor_2_link"/>
+  <joint name="bh_palm_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_3_link"/>
+  </joint>
+  <link name="bh_palm_sensor_3_link"/>
+  <joint name="bh_palm_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_4_link"/>
+  </joint>
+  <link name="bh_palm_sensor_4_link"/>
+  <joint name="bh_palm_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_5_link"/>
+  </joint>
+  <link name="bh_palm_sensor_5_link"/>
+  <joint name="bh_palm_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.033 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_6_link"/>
+  </joint>
+  <link name="bh_palm_sensor_6_link"/>
+  <joint name="bh_palm_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_7_link"/>
+  </joint>
+  <link name="bh_palm_sensor_7_link"/>
+  <joint name="bh_palm_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_8_link"/>
+  </joint>
+  <link name="bh_palm_sensor_8_link"/>
+  <joint name="bh_palm_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_9_link"/>
+  </joint>
+  <link name="bh_palm_sensor_9_link"/>
+  <joint name="bh_palm_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_10_link"/>
+  </joint>
+  <link name="bh_palm_sensor_10_link"/>
+  <joint name="bh_palm_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_11_link"/>
+  </joint>
+  <link name="bh_palm_sensor_11_link"/>
+  <joint name="bh_palm_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.033 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_12_link"/>
+  </joint>
+  <link name="bh_palm_sensor_12_link"/>
+  <joint name="bh_palm_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.033 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_13_link"/>
+  </joint>
+  <link name="bh_palm_sensor_13_link"/>
+  <joint name="bh_palm_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_14_link"/>
+  </joint>
+  <link name="bh_palm_sensor_14_link"/>
+  <joint name="bh_palm_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_15_link"/>
+  </joint>
+  <link name="bh_palm_sensor_15_link"/>
+  <joint name="bh_palm_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_16_link"/>
+  </joint>
+  <link name="bh_palm_sensor_16_link"/>
+  <joint name="bh_palm_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_17_link"/>
+  </joint>
+  <link name="bh_palm_sensor_17_link"/>
+  <joint name="bh_palm_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_18_link"/>
+  </joint>
+  <link name="bh_palm_sensor_18_link"/>
+  <joint name="bh_palm_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.033 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_19_link"/>
+  </joint>
+  <link name="bh_palm_sensor_19_link"/>
+  <joint name="bh_palm_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_20_link"/>
+  </joint>
+  <link name="bh_palm_sensor_20_link"/>
+  <joint name="bh_palm_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_21_link"/>
+  </joint>
+  <link name="bh_palm_sensor_21_link"/>
+  <joint name="bh_palm_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_22_link"/>
+  </joint>
+  <link name="bh_palm_sensor_22_link"/>
+  <joint name="bh_palm_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_23_link"/>
+  </joint>
+  <link name="bh_palm_sensor_23_link"/>
+  <joint name="bh_palm_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_24_link"/>
+  </joint>
+  <link name="bh_palm_sensor_24_link"/>
+  <joint name="bh_link1_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor1_link"/>
+  </joint>
+  <link name="bh_link1_sensor1_link"/>
+  <joint name="bh_link1_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor2_link"/>
+  </joint>
+  <link name="bh_link1_sensor2_link"/>
+  <joint name="bh_link1_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor3_link"/>
+  </joint>
+  <link name="bh_link1_sensor3_link"/>
+  <joint name="bh_link1_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor4_link"/>
+  </joint>
+  <link name="bh_link1_sensor4_link"/>
+  <joint name="bh_link1_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor5_link"/>
+  </joint>
+  <link name="bh_link1_sensor5_link"/>
+  <joint name="bh_link1_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor6_link"/>
+  </joint>
+  <link name="bh_link1_sensor6_link"/>
+  <joint name="bh_link1_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor7_link"/>
+  </joint>
+  <link name="bh_link1_sensor7_link"/>
+  <joint name="bh_link1_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor8_link"/>
+  </joint>
+  <link name="bh_link1_sensor8_link"/>
+  <joint name="bh_link1_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor9_link"/>
+  </joint>
+  <link name="bh_link1_sensor9_link"/>
+  <joint name="bh_link1_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor10_link"/>
+  </joint>
+  <link name="bh_link1_sensor10_link"/>
+  <joint name="bh_link1_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor11_link"/>
+  </joint>
+  <link name="bh_link1_sensor11_link"/>
+  <joint name="bh_link1_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor12_link"/>
+  </joint>
+  <link name="bh_link1_sensor12_link"/>
+  <joint name="bh_link1_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor13_link"/>
+  </joint>
+  <link name="bh_link1_sensor13_link"/>
+  <joint name="bh_link1_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor14_link"/>
+  </joint>
+  <link name="bh_link1_sensor14_link"/>
+  <joint name="bh_link1_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor15_link"/>
+  </joint>
+  <link name="bh_link1_sensor15_link"/>
+  <joint name="bh_link1_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor16_link"/>
+  </joint>
+  <link name="bh_link1_sensor16_link"/>
+  <joint name="bh_link1_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor17_link"/>
+  </joint>
+  <link name="bh_link1_sensor17_link"/>
+  <joint name="bh_link1_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor18_link"/>
+  </joint>
+  <link name="bh_link1_sensor18_link"/>
+  <joint name="bh_link1_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor19_link"/>
+  </joint>
+  <link name="bh_link1_sensor19_link"/>
+  <joint name="bh_link1_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor20_link"/>
+  </joint>
+  <link name="bh_link1_sensor20_link"/>
+  <joint name="bh_link1_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor21_link"/>
+  </joint>
+  <link name="bh_link1_sensor21_link"/>
+  <joint name="bh_link1_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor22_link"/>
+  </joint>
+  <link name="bh_link1_sensor22_link"/>
+  <joint name="bh_link1_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor23_link"/>
+  </joint>
+  <link name="bh_link1_sensor23_link"/>
+  <joint name="bh_link1_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor24_link"/>
+  </joint>
+  <link name="bh_link1_sensor24_link"/>
+  <joint name="bh_link2_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor1_link"/>
+  </joint>
+  <link name="bh_link2_sensor1_link"/>
+  <joint name="bh_link2_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor2_link"/>
+  </joint>
+  <link name="bh_link2_sensor2_link"/>
+  <joint name="bh_link2_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor3_link"/>
+  </joint>
+  <link name="bh_link2_sensor3_link"/>
+  <joint name="bh_link2_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor4_link"/>
+  </joint>
+  <link name="bh_link2_sensor4_link"/>
+  <joint name="bh_link2_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor5_link"/>
+  </joint>
+  <link name="bh_link2_sensor5_link"/>
+  <joint name="bh_link2_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor6_link"/>
+  </joint>
+  <link name="bh_link2_sensor6_link"/>
+  <joint name="bh_link2_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor7_link"/>
+  </joint>
+  <link name="bh_link2_sensor7_link"/>
+  <joint name="bh_link2_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor8_link"/>
+  </joint>
+  <link name="bh_link2_sensor8_link"/>
+  <joint name="bh_link2_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor9_link"/>
+  </joint>
+  <link name="bh_link2_sensor9_link"/>
+  <joint name="bh_link2_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor10_link"/>
+  </joint>
+  <link name="bh_link2_sensor10_link"/>
+  <joint name="bh_link2_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor11_link"/>
+  </joint>
+  <link name="bh_link2_sensor11_link"/>
+  <joint name="bh_link2_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor12_link"/>
+  </joint>
+  <link name="bh_link2_sensor12_link"/>
+  <joint name="bh_link2_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor13_link"/>
+  </joint>
+  <link name="bh_link2_sensor13_link"/>
+  <joint name="bh_link2_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor14_link"/>
+  </joint>
+  <link name="bh_link2_sensor14_link"/>
+  <joint name="bh_link2_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor15_link"/>
+  </joint>
+  <link name="bh_link2_sensor15_link"/>
+  <joint name="bh_link2_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor16_link"/>
+  </joint>
+  <link name="bh_link2_sensor16_link"/>
+  <joint name="bh_link2_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor17_link"/>
+  </joint>
+  <link name="bh_link2_sensor17_link"/>
+  <joint name="bh_link2_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor18_link"/>
+  </joint>
+  <link name="bh_link2_sensor18_link"/>
+  <joint name="bh_link2_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor19_link"/>
+  </joint>
+  <link name="bh_link2_sensor19_link"/>
+  <joint name="bh_link2_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor20_link"/>
+  </joint>
+  <link name="bh_link2_sensor20_link"/>
+  <joint name="bh_link2_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor21_link"/>
+  </joint>
+  <link name="bh_link2_sensor21_link"/>
+  <joint name="bh_link2_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor22_link"/>
+  </joint>
+  <link name="bh_link2_sensor22_link"/>
+  <joint name="bh_link2_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor23_link"/>
+  </joint>
+  <link name="bh_link2_sensor23_link"/>
+  <joint name="bh_link2_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor24_link"/>
+  </joint>
+  <link name="bh_link2_sensor24_link"/>
+  <joint name="bh_link3_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor1_link"/>
+  </joint>
+  <link name="bh_link3_sensor1_link"/>
+  <joint name="bh_link3_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor2_link"/>
+  </joint>
+  <link name="bh_link3_sensor2_link"/>
+  <joint name="bh_link3_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor3_link"/>
+  </joint>
+  <link name="bh_link3_sensor3_link"/>
+  <joint name="bh_link3_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor4_link"/>
+  </joint>
+  <link name="bh_link3_sensor4_link"/>
+  <joint name="bh_link3_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor5_link"/>
+  </joint>
+  <link name="bh_link3_sensor5_link"/>
+  <joint name="bh_link3_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor6_link"/>
+  </joint>
+  <link name="bh_link3_sensor6_link"/>
+  <joint name="bh_link3_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor7_link"/>
+  </joint>
+  <link name="bh_link3_sensor7_link"/>
+  <joint name="bh_link3_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor8_link"/>
+  </joint>
+  <link name="bh_link3_sensor8_link"/>
+  <joint name="bh_link3_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor9_link"/>
+  </joint>
+  <link name="bh_link3_sensor9_link"/>
+  <joint name="bh_link3_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor10_link"/>
+  </joint>
+  <link name="bh_link3_sensor10_link"/>
+  <joint name="bh_link3_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor11_link"/>
+  </joint>
+  <link name="bh_link3_sensor11_link"/>
+  <joint name="bh_link3_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor12_link"/>
+  </joint>
+  <link name="bh_link3_sensor12_link"/>
+  <joint name="bh_link3_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor13_link"/>
+  </joint>
+  <link name="bh_link3_sensor13_link"/>
+  <joint name="bh_link3_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor14_link"/>
+  </joint>
+  <link name="bh_link3_sensor14_link"/>
+  <joint name="bh_link3_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor15_link"/>
+  </joint>
+  <link name="bh_link3_sensor15_link"/>
+  <joint name="bh_link3_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor16_link"/>
+  </joint>
+  <link name="bh_link3_sensor16_link"/>
+  <joint name="bh_link3_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor17_link"/>
+  </joint>
+  <link name="bh_link3_sensor17_link"/>
+  <joint name="bh_link3_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor18_link"/>
+  </joint>
+  <link name="bh_link3_sensor18_link"/>
+  <joint name="bh_link3_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor19_link"/>
+  </joint>
+  <link name="bh_link3_sensor19_link"/>
+  <joint name="bh_link3_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor20_link"/>
+  </joint>
+  <link name="bh_link3_sensor20_link"/>
+  <joint name="bh_link3_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor21_link"/>
+  </joint>
+  <link name="bh_link3_sensor21_link"/>
+  <joint name="bh_link3_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor22_link"/>
+  </joint>
+  <link name="bh_link3_sensor22_link"/>
+  <joint name="bh_link3_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor23_link"/>
+  </joint>
+  <link name="bh_link3_sensor23_link"/>
+  <joint name="bh_link3_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor24_link"/>
+  </joint>
+  <link name="bh_link3_sensor24_link"/>
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="ros_control">
+      <robotNamespace>/</robotNamespace>
+      <controlPeriod>0.001</controlPeriod>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+</robot>
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assets/gripper/description/allegro_hand_description/allegro_hand_description_left.urdf

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+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from allegro_hand_description_left.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="allegro_hand_left" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch 
+-->
+  <!-- ======================== BASE PARAMS ========================= -->
+  <!-- ======================== FINGER PARAMS ======================== -->
+  <!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+  <!--0.0435,   0.044981-->
+  <!--0.002298-->
+  <!--0.002298-->
+  <!-- ========================= THUMB PARAMS ========================= -->
+  <!-- ========================= LIMITS ========================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- BASE -->
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/base_link_left.STL"/>
+      </geometry>
+      <!-- LEFT -->
+      <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
+      <!-- RIGHT -->
+      <!--<origin rpy="0 0 0" xyz="0 0 0 "/>-->
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- ============================================================================= -->
+  <!-- FINGERS -->
+  <!-- RIGHT HAND due to which finger is number 0 -->
+  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+  <link name="link_8.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_10.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_11.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_6.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_7.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_2.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <!--
+<xacro:thumb_right
+	finger_num=			"3" 
+	offset_origin_x=	"-0.0182"	
+	offset_origin_y=	"0.019333" 
+	offset_origin_z=	"-0.045987"
+	
+	
+	finger_angle_r=		"0"
+	finger_angle_p=		"-${95*DEG2RAD}"	
+	finger_angle_y=		"-${90*DEG2RAD}"
+/>
+-->
+  <!--
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${100*DEG2RAD}"	
+	finger_angle_y=		"${0*DEG2RAD}"
+	-->
+  <link name="link_12.0">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <!-- <mesh filename="package://allegro_hand_description/meshes/link_12.0_right.STL" /> -->
+        <!-- LEFT -->
+        <mesh filename="package://allegro_hand_description/meshes/link_12.0_left.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+      <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
+      <!-- LEFT -->
+      <origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="+1 0 0"/>
+    <limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_13.0.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <!-- RIGHT -->
+    <!-- <origin xyz="-0.027 0.005 0.0399"/> -->
+    <!-- LEFT -->
+    <origin xyz="-0.027 -0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_14.0.STL"/>
+      </geometry>
+      <material name="black">
+		  	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_15.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0.STL"/>
+      </geometry>
+      <material name="black">
+    	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0423"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- THUMB MACRO -->
+  <!-- END THUMB MACRO -->
+  <!-- THREE FINGER MACRO -->
+  <!-- [[END]] THREE FINGER MACRO -->
+</robot>

assets/gripper/description/allegro_hand_description/allegro_hand_description_left.urdf.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 890897949c90e4fdb92e60625c79102e
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

assets/gripper/description/allegro_hand_description/allegro_hand_description_right.urdf

@@ -0,0 +1,503 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from allegro_hand_description_right.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="allegro_hand_right" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch 
+-->
+  <!-- ======================== BASE PARAMS ========================= -->
+  <!-- ======================== FINGER PARAMS ======================== -->
+  <!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+  <!--0.0435,   0.044981-->
+  <!--0.002298-->
+  <!--0.002298-->
+  <!-- ========================= THUMB PARAMS ========================= -->
+  <!-- ========================= LIMITS ========================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- BASE -->
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+      <!-- LEFT -->
+      <!-- <origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/> -->
+      <!-- RIGHT -->
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- ============================================================================= -->
+  <!-- FINGERS -->
+  <!-- RIGHT HAND due to which finger is number 0 -->
+  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_2.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_6.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_7.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_8.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_10.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_11.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <mesh filename="package://meshes/link_12.0_right.STL"/>
+        <!-- LEFT -->
+        <!-- <mesh filename="package://meshes/link_12.0_left.STL" /> -->
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+      <!-- LEFT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${-.018/2} ${.029/2}"/> -->
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_13.0.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <!-- RIGHT -->
+    <origin xyz="-0.027 0.005 0.0399"/>
+    <!-- LEFT -->
+    <!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
+  </joint>
+  <link name="link_14.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_14.0.STL"/>
+      </geometry>
+      <material name="black">
+		  	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_15.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_15.0.STL"/>
+      </geometry>
+      <material name="black">
+    	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0423"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/link_15.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+  <!--
+<xacro:thumb_left 
+	finger_num=			"3" 
+	offset_origin_x=	"-0.0182"	
+	offset_origin_y=	"-0.019333" 
+	offset_origin_z=	"-0.045987" 
+	
+	
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${95*DEG2RAD}"	
+	finger_angle_y=		"${90*DEG2RAD}"
+/>
+-->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- THUMB MACRO -->
+  <!-- END THUMB MACRO -->
+  <!-- THREE FINGER MACRO -->
+  <!-- [[END]] THREE FINGER MACRO -->
+</robot>

assets/gripper/description/allegro_hand_description/allegro_hand_description_right.urdf.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: d56b9f76a2bf658c18ac559d1d1d4073
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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