[add] franka allegro

robots/franka_allegro_hand/urdf/allegro_left.urdf

@@ -0,0 +1,630 @@
+<?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="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>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.4154"/>
+      <inertia ixx="2.089e-03" ixy="-0.0036e-03" ixz="0.2233e-03" iyy="1.829e-03" iyz="-0.018e-03" izz="0.4825e-03"/>
+    </inertial>
+  </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">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_8" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.192e-05" ixy="0" ixz="0" iyy="7.438e-05" iyz="7.322e-07" izz="5.406e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_9" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_10" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_9"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_10"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_11_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11_tip" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_11_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_7_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7_tip" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_7_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_3_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3_tip" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_3_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=		"${0*DEG2RAD}"
+	-->
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <!-- <mesh filename="meshes/link_12_right.STL" /> -->
+        <!-- LEFT -->
+        <mesh filename="meshes/link_12_left.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+      <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
+      <!-- LEFT -->
+      <origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
+    </collision>
+    <inertial>
+      <mass value="0.0176"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="8.13883e-06" ixy="-2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="1.46267e-06" izz="1.00171e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_12" type="revolute">
+    <axis xyz="+1 0 0"/>
+    <limit effort="0.7" lower="0.263" upper="1.396" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_13.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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_13" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7.0"/>
+    <parent link="link_12"/>
+    <child link="link_13"/>
+    <!-- RIGHT -->
+    <!-- <origin xyz="-0.027 0.005 0.0399"/> -->
+    <!-- LEFT -->
+    <origin xyz="-0.027 -0.005 0.0399"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_14.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>
+    <inertial>
+      <mass value="0.038"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_14" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7.0"/>
+    <parent link="link_13"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0.0177"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15.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>
+    <inertial>
+      <mass value="0.0388"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_15" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7.0"/>
+    <parent link="link_14"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0.0514"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_15_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15_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>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_15_tip" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_15_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>

robots/franka_allegro_hand/urdf/allegro_right.urdf

@@ -0,0 +1,624 @@
+<?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="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>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.4154"/>
+      <inertia ixx="0.00208916" ixy="-3.63457e-06" ixz="0.000223277" iyy="0.00182848" iyz="-1.75634e-05" izz="0.000482459"/>
+    </inertial>
+  </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">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_3_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3_tip" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_7_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7_tip" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_7_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_8" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_9" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_10" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_9"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_10"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_11_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11_tip" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_11_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <mesh filename="meshes/link_12_right.STL"/>
+        <!-- LEFT -->
+        <!-- <mesh filename="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>
+    <inertial>
+      <mass value="0.0176"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="8.13883e-06" ixy="2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="-1.46267e-06" izz="1.00171e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_12" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="0.7" lower="0.263" upper="1.396" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_13.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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_13" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7.0"/>
+    <parent link="link_12"/>
+    <child link="link_13"/>
+    <!-- RIGHT -->
+    <origin xyz="-0.027 0.005 0.0399"/>
+    <!-- LEFT -->
+    <!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_14.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>
+    <inertial>
+      <mass value="0.038"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_14" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7.0"/>
+    <parent link="link_13"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0.0177"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15.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>
+    <inertial>
+      <mass value="0.0388"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_15" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7.0"/>
+    <parent link="link_14"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0.0514"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_15_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15_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>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_15_tip" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_15_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>

robots/franka_allegro_hand/urdf/franka_allegro_left.urdf

@@ -0,0 +1,770 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <!-- something is weird with this joint limit config
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/>  -->
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <!-- <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link7"/>
+    <child link="base_link"/>
+    <origin rpy="0 0 2.35619444" xyz="0 0 0.203"/>
+  </joint>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="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>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.4154"/>
+      <inertia ixx="2.089e-03" ixy="-0.0036e-03" ixz="0.2233e-03" iyy="1.829e-03" iyz="-0.018e-03" izz="0.4825e-03"/>
+    </inertial>
+  </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">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_8" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.192e-05" ixy="0" ixz="0" iyy="7.438e-05" iyz="7.322e-07" izz="5.406e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_9" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_10" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_9"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_10"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_11_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11_tip" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_11_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_7_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7_tip" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_7_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_3_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3_tip" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_3_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=		"${0*DEG2RAD}"
+	-->
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <!-- <mesh filename="meshes/link_12_right.STL" /> -->
+        <!-- LEFT -->
+        <mesh filename="meshes/link_12_left.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+      <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
+      <!-- LEFT -->
+      <origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
+    </collision>
+    <inertial>
+      <mass value="0.0176"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="8.13883e-06" ixy="-2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="1.46267e-06" izz="1.00171e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_12" type="revolute">
+    <axis xyz="+1 0 0"/>
+    <limit effort="0.7" lower="0.263" upper="1.396" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_13.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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_13" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7.0"/>
+    <parent link="link_12"/>
+    <child link="link_13"/>
+    <!-- RIGHT -->
+    <!-- <origin xyz="-0.027 0.005 0.0399"/> -->
+    <!-- LEFT -->
+    <origin xyz="-0.027 -0.005 0.0399"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_14.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>
+    <inertial>
+      <mass value="0.038"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_14" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7.0"/>
+    <parent link="link_13"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0.0177"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15.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>
+    <inertial>
+      <mass value="0.0388"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_15" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7.0"/>
+    <parent link="link_14"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0.0514"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_15_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15_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>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_15_tip" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_15_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+</robot>

robots/franka_allegro_hand/urdf/franka_allegro_right.urdf

@@ -0,0 +1,751 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <!-- something is weird with this joint limit config
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/>  -->
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <!-- <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link7"/>
+    <child link="base_link"/>
+    <origin rpy="0 0 2.35619444" xyz="0 0 0.203"/>
+  </joint>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="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>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.4154"/>
+      <inertia ixx="0.00208916" ixy="-3.63457e-06" ixz="0.000223277" iyy="0.00182848" iyz="-1.75634e-05" izz="0.000482459"/>
+    </inertial>
+  </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">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
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+      </geometry>
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+    </inertial>
+  </link>
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+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
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+      <origin rpy="0 0 0" xyz="0 0 0"/>
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+    </inertial>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
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+      <origin rpy="0 0 0" xyz="0 0 0"/>
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+    </inertial>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_3_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3_tip" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
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+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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>
+    <inertial>
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+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_7_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7_tip" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_7_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_8" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.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>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_9" type="revolute">
+    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.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"/>
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+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_10" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
+    <parent link="link_9"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.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"/>
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+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
+    <parent link="link_10"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_11_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11_tip" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_11_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <mesh filename="meshes/link_12_right.STL"/>
+        <!-- LEFT -->
+        <!-- <mesh filename="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>
+    <inertial>
+      <mass value="0.0176"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="8.13883e-06" ixy="2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="-1.46267e-06" izz="1.00171e-05"/>
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+  </link>
+  <joint name="joint_12" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="0.7" lower="0.263" upper="1.396" velocity="7.0"/>
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+    <dynamics damping="1.5e-2" friction="10"/>
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+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_13.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>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
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+  </link>
+  <joint name="joint_13" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7.0"/>
+    <parent link="link_12"/>
+    <child link="link_13"/>
+    <!-- RIGHT -->
+    <origin xyz="-0.027 0.005 0.0399"/>
+    <!-- LEFT -->
+    <!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_14.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>
+    <inertial>
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+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_14" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7.0"/>
+    <parent link="link_13"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0.0177"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15.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>
+    <inertial>
+      <mass value="0.0388"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_15" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7.0"/>
+    <parent link="link_14"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0.0514"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_15_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15_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>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_15_tip" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_15_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+</robot>

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robots/franka_allegro_hand/urdf/franka_meshes/collision/link0.obj

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robots/franka_allegro_hand/urdf/franka_meshes/collision/stltoobj.bat

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+REM SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
+REM forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
+
+SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
+forfiles /m *.stl /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn -s stltoobj.mlx"

robots/franka_allegro_hand/urdf/franka_meshes/collision/stltoobj.mlx

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+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Remove Duplicate Vertices"/>
+ <filter name="Split Vertexes Incident on Non Manifold Faces">
+  <Param tooltip="When a vertex is split it is moved along the average vector going from its position to the baricyenter of the FF connected faces sharing it" value="0" type="RichFloat" name="VertDispRatio" description="Vertex Displacement Ratio"/>
+ </filter>
+ <filter name="Select non Manifold Vertices"/>
+ <filter name="Remove Faces from Non Manifold Edges"/>
+ <filter name="Split Vertexes Incident on Non Manifold Faces">
+  <Param tooltip="When a vertex is split it is moved along the average vector going from its position to the baricyenter of the FF connected faces sharing it" value="0" type="RichFloat" name="VertDispRatio" description="Vertex Displacement Ratio"/>
+ </filter>
+ <filter name="Select non Manifold Vertices"/>
+ <filter name="Delete Selected Vertices"/>
+ <filter name="Cut mesh along crease edges">
+  <Param tooltip="If the angle between the normals of two adjacent faces is &lt;b>larger&lt;/b> that this threshold the edge is considered a creased and the mesh is cut along it." value="20" type="RichFloat" name="angleDeg" description="Crease Angle (degree)"/>
+ </filter>
+ <filter name="Re-Compute Vertex Normals">
+  <Param tooltip="" value="0" type="RichEnum" name="weightMode" enum_val1="By Angle" enum_cardinality="4" enum_val2="By Area" enum_val3="As defined by N. Max" description="Weighting Mode:" enum_val0="None (avg)"/>
+ </filter>
+</FilterScript>

robots/franka_allegro_hand/urdf/franka_meshes/visual/daetoobj.bat

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+SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
+forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
+
+REM SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
+REM forfiles /m *.dae /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn vt

robots/franka_allegro_hand/urdf/franka_meshes/visual/daetoobj.mlx

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+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Convert PerWedge UV into PerVertex UV"/>
+</FilterScript>

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