@ioai/robot_viewer 0.0.0-stage → 1.1.1

package/dist/models/mocap/blender_human_skeleton_v5.urdf

@@ -0,0 +1,2717 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="TeleGlove-Skel-V2">
+  <link name="base_link" />
+  
+  <link
+    name="link_LeftSkeletonBase">
+    <inertial>
+      <origin
+        xyz="-0.00749753420935165 -0.0227779010823181 -0.00762245254505953"
+        rpy="0 0 0" />
+      <mass
+        value="0.0385404758862162" />
+      <inertia
+        ixx="1.5781649968523E-05"
+        ixy="-6.15931854476103E-07"
+        ixz="6.08543479401497E-07"
+        iyy="2.35933155606765E-05"
+        iyz="-3.31829190600613E-07"
+        izz="3.85261681673409E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonBase.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/v5/link_LeftSkeletonBase.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_LeftSkeletonThumbBase">
+    <inertial>
+      <origin
+        xyz="-0.00565122125132898 -0.000501255807949387 -0.0144743297760789"
+        rpy="0 0 0" />
+      <mass
+        value="0.00503517796554752" />
+      <inertia
+        ixx="3.02849721330864E-07"
+        ixy="-4.84190547312495E-09"
+        ixz="-4.64239909926053E-08"
+        iyy="4.03125891253508E-07"
+        iyz="-1.09069982752038E-08"
+        izz="1.64098935188539E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonThumbBase.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/v5/link_LeftSkeletonThumbBase.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonThumb1">
+    <inertial>
+      <origin
+        xyz="-2.70784224163448E-05 0.00247468457918088 0.00438677016529195"
+        rpy="0 0 0" />
+      <mass
+        value="0.00180132345514132" />
+      <inertia
+        ixx="8.71002842140328E-08"
+        ixy="-3.05790289106745E-09"
+        ixz="-3.65932573928019E-09"
+        iyy="4.76122750908184E-08"
+        iyz="-1.54337387607888E-08"
+        izz="5.62651868917734E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonThumb1.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/v5/link_LeftSkeletonThumb1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonThumb2">
+    <inertial>
+      <origin
+        xyz="-0.00317442925766077 0.0196575172689567 0.0351584882722305"
+        rpy="0 0 0" />
+      <mass
+        value="0.00750354561222259" />
+      <inertia
+        ixx="4.77286959229607E-06"
+        ixy="-3.56236697926925E-10"
+        ixz="8.46163638291256E-09"
+        iyy="2.68349546288292E-06"
+        iyz="-2.23318773402518E-06"
+        izz="2.13736337805848E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonThumb2.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/v5/link_LeftSkeletonThumb2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonThumb3">
+    <inertial>
+      <origin
+        xyz="-0.00348718656767449 0.0018881249714575 0.0239573134762009"
+        rpy="0 0 0" />
+      <mass
+        value="0.00507456373320864" />
+      <inertia
+        ixx="9.38192752820865E-07"
+        ixy="-4.61141628574106E-10"
+        ixz="1.01355281046224E-08"
+        iyy="8.63233919922149E-07"
+        iyz="-1.41288391115611E-07"
+        izz="1.04419284261821E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonThumb3.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/v5/link_LeftSkeletonThumb3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonThumb4">
+    <inertial>
+      <origin
+        xyz="-0.00333632335070058 0.000371606793291818 -0.00578987689802116"
+        rpy="0 0 0" />
+      <mass
+        value="0.00248530627308408" />
+      <inertia
+        ixx="8.99933271104412E-08"
+        ixy="3.72496852097871E-09"
+        ixz="-8.07552357961717E-09"
+        iyy="6.81486734080318E-08"
+        iyz="1.25746343965212E-08"
+        izz="9.91247365236608E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonThumb4.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/v5/link_LeftSkeletonThumb4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonIndex1">
+    <inertial>
+      <origin
+        xyz="-2.70783830494843E-05 0.00247468455365992 0.00438677021746674"
+        rpy="0 0 0" />
+      <mass
+        value="0.00180132347270952" />
+      <inertia
+        ixx="8.71002854822851E-08"
+        ixy="-3.0579024953665E-09"
+        ixz="-3.65932593461721E-09"
+        iyy="4.76122759609618E-08"
+        iyz="-1.54337386703812E-08"
+        izz="5.62651877389945E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonIndex1.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/v5/link_LeftSkeletonIndex1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonIndex2">
+    <inertial>
+      <origin
+        xyz="-0.00311283389952722 0.0166192717832764 0.0318658208866885"
+        rpy="0 0 0" />
+      <mass
+        value="0.00674975819974666" />
+      <inertia
+        ixx="3.46397707742027E-06"
+        ixy="1.30613717826901E-10"
+        ixz="8.35086307841818E-09"
+        iyy="2.01270747630182E-06"
+        iyz="-1.58719435033193E-06"
+        izz="1.49421682736904E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonIndex2.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/v5/link_LeftSkeletonIndex2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonIndex3">
+    <inertial>
+      <origin
+        xyz="-0.00383495460339711 0.0244479604861722 0.0311210451776789"
+        rpy="0 0 0" />
+      <mass
+        value="0.00955304196961557" />
+      <inertia
+        ixx="5.99037167092948E-06"
+        ixy="1.24423659441859E-08"
+        ixz="1.98408147865419E-08"
+        iyy="1.28414119657117E-06"
+        iyz="-1.53796202935986E-06"
+        izz="4.75720340220474E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonIndex3.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/v5/link_LeftSkeletonIndex3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonIndex4">
+    <inertial>
+      <origin
+        xyz="-0.00333632335057703 0.00037160679343666 -0.00578987689782881"
+        rpy="0 0 0" />
+      <mass
+        value="0.00248530627301807" />
+      <inertia
+        ixx="8.99933271079252E-08"
+        ixy="3.72496852003676E-09"
+        ixz="-8.07552357989459E-09"
+        iyy="6.81486734050528E-08"
+        iyz="1.25746343968863E-08"
+        izz="9.91247365239002E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonIndex4.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/v5/link_LeftSkeletonIndex4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonMiddle1">
+    <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>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonMiddle1.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/v5/link_LeftSkeletonMiddle1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonMiddle2">
+    <inertial>
+      <origin
+        xyz="-0.00311283267659692 0.0166192724184075 0.0318658241430238"
+        rpy="0 0 0" />
+      <mass
+        value="0.00674975793228549" />
+      <inertia
+        ixx="3.46397645597039E-06"
+        ixy="1.30639093020871E-10"
+        ixz="8.35093763984112E-09"
+        iyy="2.01270674988301E-06"
+        iyz="-1.58719382782245E-06"
+        izz="1.49421696650751E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonMiddle2.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/v5/link_LeftSkeletonMiddle2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonMiddle3">
+    <inertial>
+      <origin
+        xyz="-0.00383499054035688 0.0244480805642827 0.0311211375245591"
+        rpy="0 0 0" />
+      <mass
+        value="0.00955296694624447" />
+      <inertia
+        ixx="5.99033822329078E-06"
+        ixy="1.24384428906265E-08"
+        ixz="1.9837327167339E-08"
+        iyy="1.28412594152005E-06"
+        iyz="-1.53794662396508E-06"
+        izz="4.75718268663311E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonMiddle3.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/v5/link_LeftSkeletonMiddle3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonMiddle4">
+    <inertial>
+      <origin
+        xyz="-0.00333632335054977 0.000371606793122523 -0.00578987689791144"
+        rpy="0 0 0" />
+      <mass
+        value="0.00248530627306133" />
+      <inertia
+        ixx="8.99933271063118E-08"
+        ixy="3.72496851799673E-09"
+        ixz="-8.07552357751855E-09"
+        iyy="6.81486733997917E-08"
+        iyz="1.25746343950073E-08"
+        izz="9.91247365201619E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonMiddle4.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/v5/link_LeftSkeletonMiddle4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonRing1">
+    <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="-3.6593257903566E-09"
+        iyy="4.76122756065285E-08"
+        iyz="-1.54337387874881E-08"
+        izz="5.62651875368826E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonRing1.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/v5/link_LeftSkeletonRing1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonRing2">
+    <inertial>
+      <origin
+        xyz="-0.00311283267659688 0.0166192724184072 0.0318658241430234"
+        rpy="0 0 0" />
+      <mass
+        value="0.00674975793228577" />
+      <inertia
+        ixx="3.46397645659174E-06"
+        ixy="1.30639019006917E-10"
+        ixz="8.35093760160191E-09"
+        iyy="2.01270675108687E-06"
+        iyz="-1.58719382902482E-06"
+        izz="1.49421696593409E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonRing2.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/v5/link_LeftSkeletonRing2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonRing3">
+    <inertial>
+      <origin
+        xyz="-0.00383499054035689 0.0244480805642818 0.0311211375245595"
+        rpy="0 0 0" />
+      <mass
+        value="0.00955296694624448" />
+      <inertia
+        ixx="5.99033821918574E-06"
+        ixy="1.24384429878512E-08"
+        ixz="1.98373272852173E-08"
+        iyy="1.28412593927251E-06"
+        iyz="-1.53794662475082E-06"
+        izz="4.75718268474107E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonRing3.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/v5/link_LeftSkeletonRing3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonRing4">
+    <inertial>
+      <origin
+        xyz="-0.00333632335054963 0.000371606793122758 -0.00578987689791134"
+        rpy="0 0 0" />
+      <mass
+        value="0.00248530627306124" />
+      <inertia
+        ixx="8.99933271063111E-08"
+        ixy="3.724968517997E-09"
+        ixz="-8.07552357751891E-09"
+        iyy="6.81486733997907E-08"
+        iyz="1.25746343950071E-08"
+        izz="9.91247365201608E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonRing4.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/v5/link_LeftSkeletonRing4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonPinky1">
+    <inertial>
+      <origin
+        xyz="-2.70784315783146E-05 0.00247468458888112 0.00438677016714477"
+        rpy="0 0 0" />
+      <mass
+        value="0.00180132345007395" />
+      <inertia
+        ixx="8.71002848761127E-08"
+        ixy="-3.0579028046289E-09"
+        ixz="-3.65932562383157E-09"
+        iyy="4.7612275170464E-08"
+        iyz="-1.5433738924314E-08"
+        izz="5.62651872929452E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonPinky1.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/v5/link_LeftSkeletonPinky1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonPinky2">
+    <inertial>
+      <origin
+        xyz="-0.00311283191310087 0.0166192687316187 0.0318658208681223"
+        rpy="0 0 0" />
+      <mass
+        value="0.00674976034940377" />
+      <inertia
+        ixx="3.46397681865719E-06"
+        ixy="1.30700266913098E-10"
+        ixz="8.35099560736627E-09"
+        iyy="2.01270674496989E-06"
+        iyz="-1.58719409909488E-06"
+        izz="1.49421734484305E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonPinky2.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/v5/link_LeftSkeletonPinky2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonPinky3">
+    <inertial>
+      <origin
+        xyz="-0.00383500070062905 0.0244480885826428 0.0311211581226629"
+        rpy="0 0 0" />
+      <mass
+        value="0.00955296223756333" />
+      <inertia
+        ixx="5.99033010945995E-06"
+        ixy="1.24369476185805E-08"
+        ixz="1.98345599631139E-08"
+        iyy="1.28411852976706E-06"
+        iyz="-1.53794316081762E-06"
+        izz="4.75718046428658E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonPinky3.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/v5/link_LeftSkeletonPinky3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_LeftSkeletonPinky4">
+    <inertial>
+      <origin
+        xyz="-0.00333632335036864 0.000371606793376666 -0.00578987689777412"
+        rpy="0 0 0" />
+      <mass
+        value="0.00248530627293352" />
+      <inertia
+        ixx="8.99933271062007E-08"
+        ixy="3.72496851900618E-09"
+        ixz="-8.07552357881947E-09"
+        iyy="6.81486734001508E-08"
+        iyz="1.25746343953134E-08"
+        izz="9.91247365203643E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_LeftSkeletonPinky4.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/v5/link_LeftSkeletonPinky4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="L_handleseat">
+    <inertial>
+      <origin
+        xyz="0.00547100310905897 -0.000141515674495926 -0.00339386101934406"
+        rpy="0 0 0" />
+      <mass
+        value="0.00565040615202921" />
+      <inertia
+        ixx="8.64145108043849E-07"
+        ixy="5.92588489232365E-09"
+        ixz="3.81499895372175E-09"
+        iyy="1.12505437183309E-06"
+        iyz="-1.62297977555847E-09"
+        izz="1.98252824599795E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/L_handleseat.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/v5/L_handleseat.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="L_handleseat_None"
+    type="fixed">
+    <origin
+      xyz="-0.0063169 -0.034356 0.0098"
+      rpy="0 0 0.11454" />
+    <parent
+      link="link_LeftSkeletonBase" />
+    <child
+      link="L_handleseat" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_RightSkeletonBase">
+    <inertial>
+      <origin
+        xyz="0.0074979468885506 -0.0227798483882081 -0.00762224193683748"
+        rpy="0 0 0" />
+      <mass
+        value="0.0385386271016685" />
+      <inertia
+        ixx="1.57820272774806E-05"
+        ixy="6.15741375877826E-07"
+        ixz="-6.08829406670394E-07"
+        iyy="2.35942567349974E-05"
+        iyz="-3.31964748628155E-07"
+        izz="3.85273742429348E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonBase.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/v5/link_RightSkeletonBase.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_RightSkeletonThumbBase">
+    <inertial>
+      <origin
+        xyz="-0.00565122071301272 -0.000501255972792561 0.0144743281019805"
+        rpy="0 0 0" />
+      <mass
+        value="0.00503517876942868" />
+      <inertia
+        ixx="3.02849789133649E-07"
+        ixy="-4.8419055228392E-09"
+        ixz="4.64240301448541E-08"
+        iyy="4.03125978353385E-07"
+        iyz="1.09069756102581E-08"
+        izz="1.64098939217181E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonThumbBase.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/v5/link_RightSkeletonThumbBase.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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>
+  <link
+    name="link_RightSkeletonThumb1">
+    <inertial>
+      <origin
+        xyz="-2.70784224163656E-05 0.00247468457918094 0.0043867701652921"
+        rpy="0 0 0" />
+      <mass
+        value="0.00180132345514132" />
+      <inertia
+        ixx="8.71002842140328E-08"
+        ixy="-3.05790289106745E-09"
+        ixz="-3.65932573928019E-09"
+        iyy="4.76122750908184E-08"
+        iyz="-1.54337387607888E-08"
+        izz="5.62651868917734E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonThumb1.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/v5/link_RightSkeletonThumb1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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>
+  <link
+    name="link_RightSkeletonThumb2">
+    <inertial>
+      <origin
+        xyz="-0.00317442925766077 0.0196575172689566 0.0351584882722299"
+        rpy="0 0 0" />
+      <mass
+        value="0.00750354561222267" />
+      <inertia
+        ixx="4.77286959269202E-06"
+        ixy="-3.56236700897877E-10"
+        ixz="8.46163638949379E-09"
+        iyy="2.68349546205697E-06"
+        iyz="-2.2331877344079E-06"
+        izz="2.13736337928041E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonThumb2.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/v5/link_RightSkeletonThumb2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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>
+  <link
+    name="link_RightSkeletonThumb3">
+    <inertial>
+      <origin
+        xyz="-0.00348718645260991 0.00188812494285672 0.0239573131477824"
+        rpy="0 0 0" />
+      <mass
+        value="0.00507456380928375" />
+      <inertia
+        ixx="9.38192781153953E-07"
+        ixy="-4.61140248063522E-10"
+        ixz="1.01355361201483E-08"
+        iyy="8.6323395097465E-07"
+        iyz="-1.41288396494797E-07"
+        izz="1.04419286988265E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonThumb3.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/v5/link_RightSkeletonThumb3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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>
+  <link
+    name="link_RightSkeletonThumb4">
+    <inertial>
+      <origin
+        xyz="-0.0631849297696281 0.000371606793291582 0.000561516683050524"
+        rpy="0 0 0" />
+      <mass
+        value="0.00248530627308418" />
+      <inertia
+        ixx="8.99933271104428E-08"
+        ixy="3.72496852097824E-09"
+        ixz="-8.07552357961688E-09"
+        iyy="6.81486734080324E-08"
+        iyz="1.25746343965218E-08"
+        izz="9.91247365236622E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonThumb4.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/v5/link_RightSkeletonThumb4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonIndex1">
+    <inertial>
+      <origin
+        xyz="-2.70784357958558E-05 0.00247468459050774 0.00438677015775221"
+        rpy="0 0 0" />
+      <mass
+        value="0.00180132344689755" />
+      <inertia
+        ixx="8.71002846925056E-08"
+        ixy="-3.05790285393461E-09"
+        ixz="-3.65932561215109E-09"
+        iyy="4.76122750188376E-08"
+        iyz="-1.54337389145854E-08"
+        izz="5.62651871983605E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonIndex1.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/v5/link_RightSkeletonIndex1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonIndex2">
+    <inertial>
+      <origin
+        xyz="-0.0031128320344144 0.0166192717352318 0.0318658205539227"
+        rpy="0 0 0" />
+      <mass
+        value="0.00674975978443595" />
+      <inertia
+        ixx="3.46397690060857E-06"
+        ixy="1.30657261608127E-10"
+        ixz="8.3509854539903E-09"
+        iyy="2.01270719593576E-06"
+        iyz="-1.58719396717706E-06"
+        izz="1.49421697774667E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonIndex2.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/v5/link_RightSkeletonIndex2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonIndex3">
+    <inertial>
+      <origin
+        xyz="-0.00383496372848451 0.0244480099613346 0.0311210662966265"
+        rpy="0 0 0" />
+      <mass
+        value="0.00955300515691071" />
+      <inertia
+        ixx="5.99036881650393E-06"
+        ixy="1.24428424607662E-08"
+        ixz="1.98406002234122E-08"
+        iyy="1.28414571827783E-06"
+        iyz="-1.53795776422138E-06"
+        izz="4.75719920358449E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonIndex3.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/v5/link_RightSkeletonIndex3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonIndex4">
+    <inertial>
+      <origin
+        xyz="-0.00333632335050306 0.000371606793567139 -0.00578987689772521"
+        rpy="0 0 0" />
+      <mass
+        value="0.0024853062728877" />
+      <inertia
+        ixx="8.99933271103195E-08"
+        ixy="3.72496852304228E-09"
+        ixz="-8.0755235785435E-09"
+        iyy="6.81486734038366E-08"
+        iyz="1.25746344003379E-08"
+        izz="9.91247365232281E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonIndex4.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/v5/link_RightSkeletonIndex4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonMiddle1">
+    <inertial>
+      <origin
+        xyz="-2.70783881582068E-05 0.0024746845566097 0.00438677021041944"
+        rpy="0 0 0" />
+      <mass
+        value="0.00180132347014605" />
+      <inertia
+        ixx="8.71002853348997E-08"
+        ixy="-3.05790254290953E-09"
+        ixz="-3.65932591028246E-09"
+        iyy="4.76122758450287E-08"
+        iyz="-1.54337386792379E-08"
+        izz="5.62651876440822E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonMiddle1.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/v5/link_RightSkeletonMiddle1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonMiddle2">
+    <inertial>
+      <origin
+        xyz="-0.00311283409556162 0.0166192712466534 0.0318658180746904"
+        rpy="0 0 0" />
+      <mass
+        value="0.00674975908129587" />
+      <inertia
+        ixx="3.46397751540307E-06"
+        ixy="1.30611116908237E-10"
+        ixz="8.35085734142793E-09"
+        iyy="2.01270795560095E-06"
+        iyz="-1.58719462153577E-06"
+        izz="1.49421677478931E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonMiddle2.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/v5/link_RightSkeletonMiddle2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonMiddle3">
+    <inertial>
+      <origin
+        xyz="-0.00383496785841972 0.0244480231015534 0.0311210825763894"
+        rpy="0 0 0" />
+      <mass
+        value="0.00955299861480062" />
+      <inertia
+        ixx="5.99036160683742E-06"
+        ixy="1.24420884810118E-08"
+        ixz="1.98398549600134E-08"
+        iyy="1.28414082385937E-06"
+        iyz="-1.53795483198939E-06"
+        izz="4.75719612101532E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonMiddle3.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/v5/link_RightSkeletonMiddle3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonMiddle4">
+    <inertial>
+      <origin
+        xyz="-0.00333632335041741 -0.00187820364332569 -0.00909406016773612"
+        rpy="0 0 0" />
+      <mass
+        value="0.00248530627290327" />
+      <inertia
+        ixx="8.99933271111865E-08"
+        ixy="3.72496852369275E-09"
+        ixz="-8.07552357740397E-09"
+        iyy="6.81486734011519E-08"
+        iyz="1.2574634401369E-08"
+        izz="9.91247365214223E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonMiddle4.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/v5/link_RightSkeletonMiddle4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonRing1">
+    <inertial>
+      <origin
+        xyz="-2.70783881582068E-05 0.0024746845566097 0.00438677021041943"
+        rpy="0 0 0" />
+      <mass
+        value="0.00180132347014605" />
+      <inertia
+        ixx="8.71002853348995E-08"
+        ixy="-3.05790254290953E-09"
+        ixz="-3.65932591028246E-09"
+        iyy="4.76122758450287E-08"
+        iyz="-1.54337386792379E-08"
+        izz="5.62651876440821E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonRing1.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/v5/link_RightSkeletonRing1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonRing2">
+    <inertial>
+      <origin
+        xyz="-0.00311283409556159 0.0166192712466531 0.0318658180746895"
+        rpy="0 0 0" />
+      <mass
+        value="0.00674975908129604" />
+      <inertia
+        ixx="3.46397751847442E-06"
+        ixy="1.30611200227761E-10"
+        ixz="8.35085743378138E-09"
+        iyy="2.01270795824619E-06"
+        iyz="-1.58719462223825E-06"
+        izz="1.49421677524323E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonRing2.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/v5/link_RightSkeletonRing2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonRing3">
+    <inertial>
+      <origin
+        xyz="-0.00383496766688223 0.024448022846394 0.0311210821002003"
+        rpy="0 0 0" />
+      <mass
+        value="0.0095529987489498" />
+      <inertia
+        ixx="5.99036178816276E-06"
+        ixy="1.24421210219843E-08"
+        ixz="1.98398924486714E-08"
+        iyy="1.2841409634775E-06"
+        iyz="-1.53795492488125E-06"
+        izz="4.75719617299538E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonRing3.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/v5/link_RightSkeletonRing3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonRing4">
+    <inertial>
+      <origin
+        xyz="-0.0033363233504172 -0.00187820364332512 -0.00909406016773592"
+        rpy="0 0 0" />
+      <mass
+        value="0.00248530627290308" />
+      <inertia
+        ixx="8.9993327111182E-08"
+        ixy="3.72496852369385E-09"
+        ixz="-8.07552357740439E-09"
+        iyy="6.8148673401151E-08"
+        iyz="1.25746344013673E-08"
+        izz="9.91247365214184E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonRing4.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/v5/link_RightSkeletonRing4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonPinky1">
+    <inertial>
+      <origin
+        xyz="-2.70783647316891E-05 0.00247468454075649 0.00438677023352406"
+        rpy="0 0 0" />
+      <mass
+        value="0.00180132348104384" />
+      <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>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonPinky1.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/v5/link_RightSkeletonPinky1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonPinky2">
+    <inertial>
+      <origin
+        xyz="-0.00311283541120784 0.0166192705623678 0.0318658136955139"
+        rpy="0 0 0" />
+      <mass
+        value="0.0067497594475408" />
+      <inertia
+        ixx="3.46397833922593E-06"
+        ixy="1.30587439381818E-10"
+        ixz="8.35079748445962E-09"
+        iyy="2.01270889456715E-06"
+        iyz="-1.58719524317918E-06"
+        izz="1.4942166027297E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonPinky2.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/v5/link_RightSkeletonPinky2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonPinky3">
+    <inertial>
+      <origin
+        xyz="-0.00383497024517236 0.0244480265649626 0.0311210850112837"
+        rpy="0 0 0" />
+      <mass
+        value="0.00955299640358521" />
+      <inertia
+        ixx="5.99036075078254E-06"
+        ixy="1.24417220165582E-08"
+        ixz="1.98395716147955E-08"
+        iyy="1.28414023315915E-06"
+        iyz="-1.537954641971E-06"
+        izz="4.75719527298133E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonPinky3.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/v5/link_RightSkeletonPinky3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="link_RightSkeletonPinky4">
+    <inertial>
+      <origin
+        xyz="-0.00333632335055932 0.000371606793700408 -0.00578987689769508"
+        rpy="0 0 0" />
+      <mass
+        value="0.00248530627286456" />
+      <inertia
+        ixx="8.99933271114385E-08"
+        ixy="3.72496852377213E-09"
+        ixz="-8.07552357954253E-09"
+        iyy="6.81486734074278E-08"
+        iyz="1.25746344004168E-08"
+        izz="9.91247365246927E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/link_RightSkeletonPinky4.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/v5/link_RightSkeletonPinky4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <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="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="R_handleseat">
+    <inertial>
+      <origin
+        xyz="-0.00547100670978662 -0.000141520339359325 -0.00339385954709473"
+        rpy="0 0 0" />
+      <mass
+        value="0.00565039109711392" />
+      <inertia
+        ixx="8.64141670752131E-07"
+        ixy="-5.92609988907797E-09"
+        ixz="-3.81500167983165E-09"
+        iyy="1.12504962687996E-06"
+        iyz="-1.62299244267611E-09"
+        izz="1.98251993669247E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://io_mocap/description/meshes/v5/R_handleseat.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/v5/R_handleseat.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="R_handleseat_None"
+    type="fixed">
+    <origin
+      xyz="0.0063169 -0.034356 0.0098"
+      rpy="0 0 -0.11454" />
+    <parent
+      link="link_RightSkeletonBase" />
+    <child
+      link="R_handleseat" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <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="right_thumb_tip_joint" type="fixed">
+        <origin xyz="-0.005 0.003 -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="-0.005 0.003 -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="-0.005 0.003 -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="-0.005 0.003 -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="-0.005 0.003 -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="-0.005 0.003 -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="-0.005 0.003 -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="-0.005 0.003 -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="-0.005 0.003 -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="-0.005 0.003 -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>
+</robot>