@ioai/robot_viewer 0.0.0-stage → 1.1.1

package/dist/models/mocap/blender_human_skeleton_v4.urdf

@@ -0,0 +1,1432 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="skeleton_hands">
+    
+    <link name="base_link" />
+    
+    
+    <link name="link_RightSkeletonBase">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_base_link.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_base_link.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="0.00752496470321814 -0.0255521556042218 -0.00372950023118471" rpy="0 0 0" />
+      <mass value="0.0518268058409403" />
+      <inertia ixx="1.78510772978754E-05" ixy="7.81948494092414E-07" ixz="-6.07587294987578E-07" iyy="2.70428218794779E-05" iyz="-3.3132082345224E-07" izz="4.39822666718216E-05" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonThumbBase">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1base.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1base.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0056512 -0.00050126 0.014474" rpy="0 0 0" />
+      <mass value="0.0050352" />
+      <inertia ixx="3.0285E-07" ixy="-4.8419E-09" ixz="4.6424E-08" iyy="4.0313E-07" iyz="1.0907E-08" izz="1.641E-07" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonThumb1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="0.0010331 0.0018408 0.0037208" rpy="0 0 0" />
+      <mass value="0.001421" />
+      <inertia ixx="7.344E-08" ixy="-2.4133E-09" ixz="-3.3241E-09" iyy="4.1789E-08" iyz="-1.4912E-08" izz="4.7274E-08" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonThumb2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0031744292576604 0.0196575172689509 0.0351584882722329" rpy="0 0 0" />
+      <mass value="0.00750354561222267" />
+      <inertia ixx="4.77286959280472E-06" ixy="-3.56236700797384E-10" ixz="8.46163638957562E-09" iyy="2.68349546210438E-06" iyz="-2.23318773446369E-06" izz="2.13736337934571E-06" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonThumb3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0034871864526099 0.00188812494285669 0.0239573131477823" rpy="0 0 0" />
+      <mass value="0.00507456380928375" />
+      <inertia ixx="9.38192781153953E-07" ixy="-4.61140248063532E-10" ixz="1.01355361201483E-08" iyy="8.6323395097465E-07" iyz="-1.41288396494797E-07" izz="1.04419286988265E-07" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonThumb4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer1_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0026914 0.0013112 -0.010649" rpy="0 0 0" />
+      <mass value="0.0028381" />
+      <inertia ixx="2.9519E-07" ixy="1.716E-09" ixz="-1.5369E-08" iyy="2.5352E-07" iyz="4.4773E-09" izz="9.6572E-08" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonIndex1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer2_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer2_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-2.7078E-05 0.0024747 0.0043868" rpy="0 0 0" />
+      <mass value="0.0018013" />
+      <inertia ixx="8.71E-08" ixy="-3.0579E-09" ixz="-3.6593E-09" iyy="4.7612E-08" iyz="-1.5434E-08" izz="5.6265E-08" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonIndex2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer2_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer2_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0031128 0.016619 0.031866" rpy="0 0 0" />
+      <mass value="0.0067498" />
+      <inertia ixx="3.464E-06" ixy="1.3066E-10" ixz="8.351E-09" iyy="2.0127E-06" iyz="-1.5872E-06" izz="1.4942E-06" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonIndex3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer2_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer2_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.003835 0.024448 0.031121" rpy="0 0 0" />
+      <mass value="0.009553" />
+      <inertia ixx="5.9904E-06" ixy="1.2443E-08" ixz="1.9841E-08" iyy="1.2841E-06" iyz="-1.538E-06" izz="4.7572E-06" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonIndex4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer2_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer2_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0026914 0.0013112 -0.010649" rpy="0 0 0" />
+      <mass value="0.0028381" />
+      <inertia ixx="2.9519E-07" ixy="1.7159E-09" ixz="-1.5368E-08" iyy="2.5352E-07" iyz="4.4772E-09" izz="9.6571E-08" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonMiddle1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer3_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer3_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-2.7078E-05 0.0024747 0.0043868" rpy="0 0 0" />
+      <mass value="0.0018013" />
+      <inertia ixx="8.71E-08" ixy="-3.0579E-09" ixz="-3.6593E-09" iyy="4.7612E-08" iyz="-1.5434E-08" izz="5.6265E-08" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonMiddle2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer3_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer3_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0031128 0.016619 0.031866" rpy="0 0 0" />
+      <mass value="0.0067498" />
+      <inertia ixx="3.464E-06" ixy="1.3061E-10" ixz="8.3509E-09" iyy="2.0127E-06" iyz="-1.5872E-06" izz="1.4942E-06" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonMiddle3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer3_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer3_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.003835 0.024448 0.031121" rpy="0 0 0" />
+      <mass value="0.009553" />
+      <inertia ixx="5.9904E-06" ixy="1.2442E-08" ixz="1.984E-08" iyy="1.2841E-06" iyz="-1.538E-06" izz="4.7572E-06" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonMiddle4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer3_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer3_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0026914 0.0013112 -0.010649" rpy="0 0 0" />
+      <mass value="0.0028381" />
+      <inertia ixx="2.9519E-07" ixy="1.716E-09" ixz="-1.5368E-08" iyy="2.5352E-07" iyz="4.4772E-09" izz="9.6571E-08" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonRing1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer4_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer4_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-2.7078E-05 0.0024747 0.0043868" rpy="0 0 0" />
+      <mass value="0.0018013" />
+      <inertia ixx="8.71E-08" ixy="-3.0579E-09" ixz="-3.6593E-09" iyy="4.7612E-08" iyz="-1.5434E-08" izz="5.6265E-08" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonRing2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer4_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer4_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0031128 0.016619 0.031866" rpy="0 0 0" />
+      <mass value="0.0067498" />
+      <inertia ixx="3.464E-06" ixy="1.3061E-10" ixz="8.3509E-09" iyy="2.0127E-06" iyz="-1.5872E-06" izz="1.4942E-06" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonRing3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer4_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer4_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.003835 0.024448 0.031121" rpy="0 0 0" />
+      <mass value="0.009553" />
+      <inertia ixx="5.9904E-06" ixy="1.2442E-08" ixz="1.984E-08" iyy="1.2841E-06" iyz="-1.538E-06" izz="4.7572E-06" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonRing4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer4_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer4_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0026914 0.0013112 -0.010649" rpy="0 0 0" />
+      <mass value="0.0028381" />
+      <inertia ixx="2.9519E-07" ixy="1.716E-09" ixz="-1.5368E-08" iyy="2.5352E-07" iyz="4.4772E-09" izz="9.6571E-08" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonPinky1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer5_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer5_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-2.70783647316891E-05 0.00247468454075649 0.00438677023352406" rpy="0 0 0" />
+      <mass value="0.00180132348104385" />
+      <inertia ixx="8.71002855401404E-08" ixy="-3.0579024128593E-09" ixz="-3.65932606331154E-09" iyy="4.76122762136426E-08" iyz="-1.54337385587283E-08" izz="5.62651878023263E-08" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonPinky2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer5_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer5_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0031128 0.016619 0.031866" rpy="0 0 0" />
+      <mass value="0.0067498" />
+      <inertia ixx="3.464E-06" ixy="1.3059E-10" ixz="8.3508E-09" iyy="2.0127E-06" iyz="-1.5872E-06" izz="1.4942E-06" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonPinky3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer5_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer5_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.003835 0.024448 0.031121" rpy="0 0 0" />
+      <mass value="0.009553" />
+      <inertia ixx="5.9904E-06" ixy="1.2442E-08" ixz="1.984E-08" iyy="1.2841E-06" iyz="-1.538E-06" izz="4.7572E-06" />
+    </inertial>
+    </link>
+    <link name="link_RightSkeletonPinky4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer5_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/R_figer5_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0026914 0.0013112 -0.010649" rpy="0 0 0" />
+      <mass value="0.0028381" />
+      <inertia ixx="2.9519E-07" ixy="1.7159E-09" ixz="-1.5368E-08" iyy="2.5352E-07" iyz="4.4774E-09" izz="9.6571E-08" />
+    </inertial>
+    </link>
+
+    
+    <link name="link_LeftSkeletonBase">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_base_link.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_base_link.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0071875 -0.025818 -0.003816" rpy="0 0 0" />
+      <mass value="0.052266" />
+      <inertia ixx="1.7861E-05" ixy="-7.774E-07" ixz="6.0854E-07" iyy="2.7057E-05" iyz="-3.3183E-07" izz="4.3994E-05" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonThumbBase">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1base.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1base.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0056512 -0.00050126 -0.014474" rpy="0 0 0" />
+      <mass value="0.0050352" />
+      <inertia ixx="3.0285E-07" ixy="-4.8419E-09" ixz="-4.6424E-08" iyy="4.0313E-07" iyz="-1.0907E-08" izz="1.641E-07" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonThumb1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="0.00103307505347319 0.00184077480530568 0.00372077729598363" rpy="0 0 0" />
+      <mass value="0.00142104750359472" />
+      <inertia ixx="7.34398085023082E-08" ixy="-2.41328511399795E-09" ixz="-3.32405685426481E-09" iyy="4.17889579868088E-08" iyz="-1.49123152617831E-08" izz="4.72743798877278E-08" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonThumb2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00317442925766076 0.0196575172689567 0.0351584882722305" rpy="0 0 0" />
+      <mass value="0.00750354561222259" />
+      <inertia ixx="4.77286959229607E-06" ixy="-3.56236697926934E-10" ixz="8.46163638291255E-09" iyy="2.68349546288292E-06" iyz="-2.23318773402518E-06" izz="2.13736337805848E-06" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonThumb3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00348718656767449 0.00188812497145747 0.0239573134762009" rpy="0 0 0" />
+      <mass value="0.00507456373320865" />
+      <inertia ixx="9.38192752820057E-07" ixy="-4.61141628576471E-10" ixz="1.01355281045297E-08" iyy="8.63233919921277E-07" iyz="-1.4128839111666E-07" izz="1.04419284261884E-07" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonThumb4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer1_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00269144829495786 0.00131123432438181 -0.0106491104624541" rpy="0 0 0" />
+      <mass value="0.00283813885886545" />
+      <inertia ixx="2.95191006974024E-07" ixy="1.715978083546E-09" ixz="-1.53685710851065E-08" iyy="2.53523111794926E-07" iyz="4.47728143031875E-09" izz="9.65716906164854E-08" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonIndex1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer2_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer2_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-2.70783830494843E-05 0.00247468455365992 0.00438677021746674" rpy="0 0 0" />
+      <mass value="0.00180132347270952" />
+      <inertia ixx="8.71002854822852E-08" ixy="-3.0579024953665E-09" ixz="-3.65932593461721E-09" iyy="4.76122759609618E-08" iyz="-1.54337386703811E-08" izz="5.62651877389946E-08" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonIndex2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer2_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer2_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00311283389952722 0.0166192717832763 0.0318658208866879" rpy="0 0 0" />
+      <mass value="0.00674975819974668" />
+      <inertia ixx="3.46397707999207E-06" ixy="1.30614042503259E-10" ixz="8.35086333583369E-09" iyy="2.01270747938739E-06" iyz="-1.58719434979186E-06" izz="1.4942168266454E-06" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonIndex3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer2_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer2_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.003835 0.024448 0.031121" rpy="0 0 0" />
+      <mass value="0.009553" />
+      <inertia ixx="5.9904E-06" ixy="1.2442E-08" ixz="1.9841E-08" iyy="1.2841E-06" iyz="-1.538E-06" izz="4.7572E-06" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonIndex4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer2_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer2_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00269142139243032 0.00131119366606557 -0.0106491009653353" rpy="0 0 0" />
+      <mass value="0.00283813624759799" />
+      <inertia ixx="2.951912997642E-07" ixy="1.71678009357068E-09" ixz="-1.5368007180772E-08" iyy="2.53522873664869E-07" iyz="4.47648334924125E-09" izz="9.65716410018517E-08" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonMiddle1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer3_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer3_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-2.7078405471212E-05 0.00247468456974487 0.00438677019512488" rpy="0 0 0" />
+      <mass value="0.00180132346254114" />
+      <inertia ixx="8.7100285217609E-08" ixy="-3.05790263536449E-09" ixz="-3.65932579035658E-09" iyy="4.76122756065285E-08" iyz="-1.54337387874881E-08" izz="5.62651875368826E-08" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonMiddle2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer3_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer3_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00311283267659693 0.0166192724184073 0.0318658241430238" rpy="0 0 0" />
+      <mass value="0.00674975793228549" />
+      <inertia ixx="3.46397645578274E-06" ixy="1.30639079816726E-10" ixz="8.35093762136869E-09" iyy="2.01270674978937E-06" iyz="-1.58719382787812E-06" izz="1.49421696642431E-06" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonMiddle3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer3_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer3_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00383499054035688 0.0244480805642827 0.0311211375245591" rpy="0 0 0" />
+      <mass value="0.00955296694624449" />
+      <inertia ixx="5.99033822329078E-06" ixy="1.24384428906266E-08" ixz="1.98373271673392E-08" iyy="1.28412594152005E-06" iyz="-1.53794662396508E-06" izz="4.75718268663311E-06" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonMiddle4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer3_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer3_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0026914 0.0013112 -0.010649" rpy="0 0 0" />
+      <mass value="0.0028381" />
+      <inertia ixx="2.9519E-07" ixy="1.7157E-09" ixz="-1.5368E-08" iyy="2.5352E-07" iyz="4.4774E-09" izz="9.6572E-08" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonRing1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer4_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer4_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-2.70784054712189E-05 0.00247468456974487 0.00438677019512488" rpy="0 0 0" />
+      <mass value="0.00180132346254114" />
+      <inertia ixx="8.7100285217609E-08" ixy="-3.05790263536449E-09" ixz="-3.65932579035659E-09" iyy="4.76122756065285E-08" iyz="-1.54337387874881E-08" izz="5.62651875368826E-08" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonRing2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer4_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer4_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0031128 0.016619 0.031866" rpy="0 0 0" />
+      <mass value="0.0067498" />
+      <inertia ixx="3.464E-06" ixy="1.3064E-10" ixz="8.3509E-09" iyy="2.0127E-06" iyz="-1.5872E-06" izz="1.4942E-06" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonRing3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer4_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer4_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00383499054035687 0.0244480805642817 0.0311211375245594" rpy="0 0 0" />
+      <mass value="0.00955296694624447" />
+      <inertia ixx="5.99033821918527E-06" ixy="1.24384429879043E-08" ixz="1.98373272852558E-08" iyy="1.28412593927201E-06" iyz="-1.5379466247506E-06" izz="4.75718268474111E-06" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonRing4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer4_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer4_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00269143985186522 0.00131123900117358 -0.010649109639719" rpy="0 0 0" />
+      <mass value="0.00283814024815758" />
+      <inertia ixx="2.95191093276484E-07" ixy="1.71570093387564E-09" ixz="-1.53684896368724E-08" iyy="2.53523011704859E-07" iyz="4.4774347889687E-09" izz="9.65718896046639E-08" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonPinky1">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer5_1.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer5_1.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-2.70784315783423E-05 0.00247468458888113 0.00438677016714477" rpy="0 0 0" />
+      <mass value="0.00180132345007395" />
+      <inertia ixx="8.71002848761129E-08" ixy="-3.05790280462891E-09" ixz="-3.65932562383157E-09" iyy="4.76122751704641E-08" iyz="-1.5433738924314E-08" izz="5.62651872929453E-08" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonPinky2">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer5_2.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer5_2.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.0031128326211932 0.0166192721461496 0.0318658220014947" rpy="0 0 0" />
+      <mass value="0.00674975862681354" />
+      <inertia ixx="3.46397677372773E-06" ixy="1.30643362198738E-10" ixz="8.35094849718681E-09" iyy="2.01270708577869E-06" iyz="-1.58719396510544E-06" izz="1.49421694806768E-06" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonPinky3">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer5_3.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer5_3.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00383500052110629 0.0244480880245193 0.0311211572626569" rpy="0 0 0" />
+      <mass value="0.00955296255386165" />
+      <inertia ixx="5.99033040199161E-06" ixy="1.24369687637136E-08" ixz="1.98345841151513E-08" iyy="1.28411872785484E-06" iyz="-1.53794332192352E-06" izz="4.75718055833001E-06" />
+    </inertial>
+    </link>
+    <link name="link_LeftSkeletonPinky4">
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer5_4.STL" />
+        </geometry>
+        <material name="">
+            <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://io_mocap/description/meshes/v4/L_figer5_4.STL" />
+        </geometry>
+        </collision>
+    <inertial>
+      <origin xyz="-0.00269142147355608 0.00131124179778838 -0.0106491029625067" rpy="0 0 0" />
+      <mass value="0.00283813750198794" />
+      <inertia ixx="2.9519141935042E-07" ixy="1.71585604436603E-09" ixz="-1.53681173379396E-08" iyy="2.5352240055643E-07" iyz="4.47741719154896E-09" izz="9.65715578191067E-08" />
+    </inertial>
+    </link>
+
+    
+    <link name="right_thumb_tip" />
+    <link name="right_index_tip" />
+    <link name="right_middle_tip" />
+    <link name="right_ring_tip" />
+    <link name="right_pinky_tip" />
+    <link name="left_thumb_tip" />
+    <link name="left_index_tip" />
+    <link name="left_middle_tip" />
+    <link name="left_ring_tip" />
+    <link name="left_pinky_tip" />
+    <link name="right_hand" />
+    <link name="left_hand" />
+
+    
+    <joint name="joint_RightSkeletonBase" type="fixed">
+        <parent link="base_link" />
+        <child link="link_RightSkeletonBase" />
+        <origin xyz="-0.13 0 0" rpy="0 0 0" />
+    </joint>
+    
+    <joint name="joint_LeftSkeletonBase" type="fixed">
+        <parent link="base_link" />
+        <child link="link_LeftSkeletonBase" />
+        <origin xyz="0.13 0 0" rpy="0 0 0" />
+    </joint>
+
+    
+    <joint name="joint_RightSkeletonThumbBase" type="revolute">
+        <origin xyz="-0.040042 -0.053331 -0.015" rpy="3.1416 0 2.1472" />
+    <parent link="link_RightSkeletonBase" />
+    <child link="link_RightSkeletonThumbBase" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonThumb1" type="revolute">
+        <origin xyz="-0.0072 -0.006 0.0195" rpy="1.5708 1.5708 0" />
+    <parent link="link_RightSkeletonThumbBase" />
+    <child link="link_RightSkeletonThumb1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonThumb2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-1.309 0 0" />
+    <parent link="link_RightSkeletonThumb1" />
+    <child link="link_RightSkeletonThumb2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonThumb3" type="revolute">
+        <origin xyz="0 0.050552 0.068334" rpy="-0.81433 0 0" />
+    <parent link="link_RightSkeletonThumb2" />
+    <child link="link_RightSkeletonThumb3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonThumb4" type="revolute">
+        <origin xyz="0 0.0080746 0.045794" rpy="2.5307 0 0" />
+    <parent link="link_RightSkeletonThumb3" />
+    <child link="link_RightSkeletonThumb4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonIndex1" type="revolute">
+        <origin xyz="-0.021871 0.0026351 -0.0024377" rpy="0 -0.2618 -0.1199" />
+    <parent link="link_RightSkeletonBase" />
+    <child link="link_RightSkeletonIndex1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonIndex2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
+    <parent link="link_RightSkeletonIndex1" />
+    <child link="link_RightSkeletonIndex2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonIndex3" type="revolute">
+        <origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
+    <parent link="link_RightSkeletonIndex2" />
+    <child link="link_RightSkeletonIndex3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonIndex4" type="revolute">
+        <origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
+    <parent link="link_RightSkeletonIndex3" />
+    <child link="link_RightSkeletonIndex4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonMiddle1" type="revolute">
+        <origin xyz="0 0 0.0005" rpy="0 0 -0.1199" />
+    <parent link="link_RightSkeletonBase" />
+    <child link="link_RightSkeletonMiddle1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonMiddle2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
+    <parent link="link_RightSkeletonMiddle1" />
+    <child link="link_RightSkeletonMiddle2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonMiddle3" type="revolute">
+        <origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
+    <parent link="link_RightSkeletonMiddle2" />
+    <child link="link_RightSkeletonMiddle3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonMiddle4" type="revolute">
+        <origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
+    <parent link="link_RightSkeletonMiddle3" />
+    <child link="link_RightSkeletonMiddle4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonRing1" type="revolute">
+        <origin xyz="0.020849 -0.002512 0.0005" rpy="0 0 -0.1199" />
+    <parent link="link_RightSkeletonBase" />
+    <child link="link_RightSkeletonRing1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonRing2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
+    <parent link="link_RightSkeletonRing1" />
+    <child link="link_RightSkeletonRing2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonRing3" type="revolute">
+        <origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
+    <parent link="link_RightSkeletonRing2" />
+    <child link="link_RightSkeletonRing3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonRing4" type="revolute">
+        <origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
+    <parent link="link_RightSkeletonRing3" />
+    <child link="link_RightSkeletonRing4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonPinky1" type="revolute">
+        <origin xyz="0.042036 -0.0050645 -0.0016681" rpy="0 0.17453 -0.1199" />
+    <parent link="link_RightSkeletonBase" />
+    <child link="link_RightSkeletonPinky1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonPinky2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
+    <parent link="link_RightSkeletonPinky1" />
+    <child link="link_RightSkeletonPinky2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonPinky3" type="revolute">
+        <origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
+    <parent link="link_RightSkeletonPinky2" />
+    <child link="link_RightSkeletonPinky3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_RightSkeletonPinky4" type="revolute">
+        <origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
+    <parent link="link_RightSkeletonPinky3" />
+    <child link="link_RightSkeletonPinky4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+
+    
+    <joint name="joint_LeftSkeletonThumbBase" type="revolute">
+        <origin xyz="0.040042 -0.053331 -0.015" rpy="0 0 0.99442" />
+    <parent link="link_LeftSkeletonBase" />
+    <child link="link_LeftSkeletonThumbBase" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonThumb1" type="revolute">
+        <origin xyz="-0.0072 -0.006 -0.0195" rpy="1.5708 1.5708 0" />
+    <parent link="link_LeftSkeletonThumbBase" />
+    <child link="link_LeftSkeletonThumb1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonThumb2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-1.309 0 0" />
+    <parent link="link_LeftSkeletonThumb1" />
+    <child link="link_LeftSkeletonThumb2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonThumb3" type="revolute">
+        <origin xyz="0 0.050552 0.068334" rpy="-0.81433 0 0" />
+    <parent link="link_LeftSkeletonThumb2" />
+    <child link="link_LeftSkeletonThumb3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonThumb4" type="revolute">
+        <origin xyz="0 0.0080746 0.045794" rpy="2.5307 0 0" />
+    <parent link="link_LeftSkeletonThumb3" />
+    <child link="link_LeftSkeletonThumb4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonIndex1" type="revolute">
+        <origin xyz="0.021871 0.0026351 -0.0024377" rpy="0 0.2618 0.1199" />
+    <parent link="link_LeftSkeletonBase" />
+    <child link="link_LeftSkeletonIndex1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonIndex2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
+    <parent link="link_LeftSkeletonIndex1" />
+    <child link="link_LeftSkeletonIndex2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonIndex3" type="revolute">
+        <origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
+    <parent link="link_LeftSkeletonIndex2" />
+    <child link="link_LeftSkeletonIndex3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonIndex4" type="revolute">
+        <origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
+    <parent link="link_LeftSkeletonIndex3" />
+    <child link="link_LeftSkeletonIndex4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonMiddle1" type="revolute">
+        <origin xyz="0 0 0.0005" rpy="0 0 0.1199" />
+    <parent link="link_LeftSkeletonBase" />
+    <child link="link_LeftSkeletonMiddle1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonMiddle2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
+    <parent link="link_LeftSkeletonMiddle1" />
+    <child link="link_LeftSkeletonMiddle2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonMiddle3" type="revolute">
+        <origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
+    <parent link="link_LeftSkeletonMiddle2" />
+    <child link="link_LeftSkeletonMiddle3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonMiddle4" type="revolute">
+        <origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
+    <parent link="link_LeftSkeletonMiddle3" />
+    <child link="link_LeftSkeletonMiddle4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonRing1" type="revolute">
+        <origin xyz="-0.020849 -0.002512 0.0005" rpy="0 0 0.1199" />
+    <parent link="link_LeftSkeletonBase" />
+    <child link="link_LeftSkeletonRing1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonRing2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
+    <parent link="link_LeftSkeletonRing1" />
+    <child link="link_LeftSkeletonRing2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonRing3" type="revolute">
+        <origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
+    <parent link="link_LeftSkeletonRing2" />
+    <child link="link_LeftSkeletonRing3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonRing4" type="revolute">
+        <origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
+    <parent link="link_LeftSkeletonRing3" />
+    <child link="link_LeftSkeletonRing4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonPinky1" type="revolute">
+        <origin xyz="-0.042036 -0.0050645 -0.0016681" rpy="0 -0.17453 0.1199" />
+    <parent link="link_LeftSkeletonBase" />
+    <child link="link_LeftSkeletonPinky1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonPinky2" type="revolute">
+        <origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
+    <parent link="link_LeftSkeletonPinky1" />
+    <child link="link_LeftSkeletonPinky2" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonPinky3" type="revolute">
+        <origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
+    <parent link="link_LeftSkeletonPinky2" />
+    <child link="link_LeftSkeletonPinky3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+    <joint name="joint_LeftSkeletonPinky4" type="revolute">
+        <origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
+    <parent link="link_LeftSkeletonPinky3" />
+    <child link="link_LeftSkeletonPinky4" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1" />
+  </joint>
+
+    
+    <joint name="right_thumb_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_RightSkeletonThumb4" />
+        <child link="right_thumb_tip" />
+    </joint>
+    <joint name="right_index_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_RightSkeletonIndex4" />
+        <child link="right_index_tip" />
+    </joint>
+    <joint name="right_middle_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_RightSkeletonMiddle4" />
+        <child link="right_middle_tip" />
+    </joint>
+    <joint name="right_ring_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_RightSkeletonRing4" />
+        <child link="right_ring_tip" />
+    </joint>
+    <joint name="right_pinky_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_RightSkeletonPinky4" />
+        <child link="right_pinky_tip" />
+    </joint>
+    <joint name="left_thumb_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_LeftSkeletonThumb4" />
+        <child link="left_thumb_tip" />
+    </joint>
+    <joint name="left_index_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_LeftSkeletonIndex4" />
+        <child link="left_index_tip" />
+    </joint>
+    <joint name="left_middle_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_LeftSkeletonMiddle4" />
+        <child link="left_middle_tip" />
+    </joint>
+    <joint name="left_ring_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_LeftSkeletonRing4" />
+        <child link="left_ring_tip" />
+    </joint>
+    <joint name="left_pinky_tip_joint" type="fixed">
+        <origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
+        <parent link="link_LeftSkeletonPinky4" />
+        <child link="left_pinky_tip" />
+    </joint>
+    <joint name="joint_right_hand" type="fixed">
+        <origin xyz="0.0097906 -0.039958 -0.03" rpy="0 0 0" />
+        <parent link="link_RightSkeletonBase" />
+        <child link="right_hand" />
+    </joint>
+    <joint name="joint_left_hand" type="fixed">
+        <origin xyz="-0.0097906 -0.039958 -0.03" rpy="0 0 0" />
+        <parent link="link_LeftSkeletonBase" />
+        <child link="left_hand" />
+    </joint>
+  <link name="Rgamepadbase">
+    <inertial>
+      <origin xyz="0.0031077 0.021669 0.0084989" rpy="0 0 0" />
+      <mass value="0.02843" />
+      <inertia ixx="1.9843E-05" ixy="-3.9906E-07" ixz="-5.063E-07" iyy="9.7174E-06" iyz="-3.9711E-06" izz="2.0273E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://io_mocap/description/meshes/v4/Rgamepadbase.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+  </link>
+  <link name="Rgamepad">
+    <inertial>
+      <origin xyz="0.00893 -0.041415 -0.020604" rpy="0 0 0" />
+      <mass value="0.021713" />
+      <inertia ixx="4.7609E-06" ixy="-3.6668E-07" ixz="-2.4931E-07" iyy="1.9878E-06" iyz="-1.3791E-06" izz="3.9524E-06" />
+    </inertial>
+  </link>
+  <joint name="Rgamebase_joint" type="fixed">
+    <origin xyz="0.0097906 -0.039958 0.0172" rpy="0 0 1.4509" />
+    <parent link="link_RightSkeletonBase" />
+    <child link="Rgamepadbase" />
+  </joint>
+  <joint name="Rgamepad_joint" type="fixed">
+    <origin xyz="-0.035927 0.0795 0.020469" rpy="2.8795 0.79734 -2.0538" />
+    <parent link="Rgamepadbase" />
+    <child link="Rgamepad" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="Lgamepadbase">
+    <inertial>
+      <origin xyz="0.0030876 -0.021663 0.0084916" rpy="0 0 0" />
+      <mass value="0.028422" />
+      <inertia ixx="1.9837E-05" ixy="3.9965E-07" ixz="-5.0714E-07" iyy="9.714E-06" iyz="3.9687E-06" izz="2.0269E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://io_mocap/description/meshes/v4/Lgamepadbase.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+  </link>
+  <link name="Lgamepad">
+    <inertial>
+      <origin xyz="0.11839 0.017119 0.1301" rpy="0 0 0" />
+      <mass value="0.021713" />
+      <inertia ixx="2.7073E-06" ixy="1.5308E-06" ixz="-7.3415E-07" iyy="3.4923E-06" iyz="6.6424E-07" izz="4.5015E-06" />
+    </inertial>
+  </link>
+<joint name="Lgamebase_joint" type="fixed">
+	<origin xyz="-0.0097906 -0.039958 0.0172" rpy="0 0 1.6907" />
+	<parent link="link_LeftSkeletonBase" />
+	<child link="Lgamepadbase" />
+</joint>
+<joint name="Lgamepad_joint" type="fixed">
+	<origin xyz="-0.035948 -0.079502 0.020469" rpy="2.8795 -0.79734 -1.0878" />
+	<parent link="Lgamepadbase" />
+	<child link="Lgamepad" />
+	<axis xyz="0 0 0" />
+</joint>
+</robot>