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l_hand.urdf
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<robot name="l_hand">
<link name="base_link"/>
<link name="l_hand_base_link">
<inertial>
<mass value="0.010"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.016 -0.0625 0" rpy="1.5708 0 1.5708"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_palm.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.016 -0.0625 0" rpy="1.5708 0 1.5708"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_palm.dae"/>
</geometry>
</collision>
<visual>
<origin xyz="-0.0018 -0.027 -0.00375" rpy="-1.4749 -0.072507 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_indexbase.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="-0.0018 -0.027 -0.00375" rpy="-1.4749 -0.072507 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_indexbase.dae"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0959 0.017493 -1.57079" xyz="0.01225 -0.075498 -0.027259"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ail0.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin rpy="0.0959 0.017493 -1.57079" xyz="0.01225 -0.075498 -0.027259"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ail0.dae"/>
</geometry>
</collision>
<visual>
<origin xyz="0.0135 -0.06225 0.02475" rpy="-1.6581 -0.017493 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_littlebase.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0135 -0.06225 0.02475" rpy="-1.6581 -0.017493 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_littlebase.dae"/>
</geometry>
</collision>
<!--visual>
<origin xyz="0.0135 -0.077048 0.025009" rpy="-0.0873 -0.017493 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_lil0.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0135 -0.077048 0.025009" rpy="-0.0873 -0.017493 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_lil0.dae"/>
</geometry>
</collision>
<visual>
<origin xyz="0.011 -0.0653 -0.01" rpy="-1.5708 7e-06 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_middlebase.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.011 -0.0653 -0.01" rpy="-1.5708 7e-06 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_middlebase.dae"/>
</geometry>
</collision>
<visual>
<origin xyz="0.011 -0.0803 -0.01" rpy="-0 7e-06 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ml0.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.011 -0.0803 -0.01" rpy="-0 7e-06 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ml0.dae"/>
</geometry>
</collision>
<visual>
<origin xyz="0.01175 -0.06415 0.0059" rpy="-1.6581 -0.008693 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ringbase.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.01175 -0.06415 0.0059" rpy="-1.6581 -0.008693 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ringbase.dae"/>
</geometry>
</collision>
<visual>
<origin xyz="0.01175 -0.078949 0.006029" rpy="-0.0873 -0.008693 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ril0.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.01175 -0.078949 0.006029" rpy="-0.0873 -0.008693 -1.57079"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ril0.dae"/>
</geometry>
</collision-->
</link>
<joint name="base_fixed_joint" type="fixed">
<origin xyz="0 0 1" rpy="0 -0 0"/>
<axis xyz="0 0 0"/>
<parent link="base_link"/>
<child link="l_hand_base_link"/>
</joint>
<link name="l_ai_dummy">
<origin xyz="0.01225 -0.0643 -0.027" rpy="-1.4749 -0.072507 -1.57079"/>
<inertial>
<mass value="0.010"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
</link>
<joint name="l_aij6" type="revolute">
<origin xyz="0.01225 -0.0643 -0.027" rpy="-1.4749 -0.072507 -1.57079"/>
<parent link="l_hand_base_link"/>
<child link="l_ai_dummy"/>
<axis xyz="-1 0 0"/>
<limit effort="10" velocity="0.5" lower="-1.5708" upper="1.5708"/>
</joint>
<link name="l_ail1">
<inertial>
<mass value="0.010"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.0259 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ail1.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0259 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ail1.dae"/>
</geometry>
</collision>
</link>
<joint name="l_aij3" type="revolute">
<origin rpy="1.5708 0 0" xyz="0.012 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="l_ai_dummy"/>
<child link="l_ail1"/>
<axis xyz="-0.095753 -0.017412 0.995253"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_ail2">
<inertial>
<mass value="0.010"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.022 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ail2.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.022 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ail2.dae"/>
</geometry>
</collision>
</link>
<joint name="l_aij4" type="revolute">
<origin xyz="0.0259 0 0" rpy="0 0 0"/>
<parent link="l_ail1"/>
<child link="l_ail2"/>
<axis xyz="-0.095753 -0.017412 0.995253"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_ail3">
<inertial>
<mass value="0.010"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.0168 0 0" rpy="-1.5708 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ail3.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0168 0 0" rpy="-1.5708 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ail3.dae"/>
</geometry>
</collision>
</link>
<joint name="l_aij5" type="revolute">
<origin xyz="0.022 0 0" rpy="0 0 0"/>
<parent link="l_ail2"/>
<child link="l_ail3"/>
<axis xyz="-0.095753 -0.017412 0.995253"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_li_dummy">
<origin xyz="0.0135 -0.06225 0.02475" rpy="-1.6581 -0.017493 -1.57079"/>
<inertial>
<mass value="0.010"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
</link>
<joint name="l_lij6" type="revolute">
<origin xyz="0.0135 -0.06225 0.02475" rpy="-1.6581 -0.017493 -1.57079"/>
<parent link="l_hand_base_link"/>
<child link="l_li_dummy"/>
<axis xyz="-1 0 0"/>
<limit effort="10" velocity="0.5" lower="-1.5708" upper="1.5708"/>
</joint>
<link name="l_lil1">
<inertial>
<mass value="0.010"/>
<origin xyz="0.0135 -0.077048 0.025009" rpy="-0.0873 -0.017493 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.0218 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_lil1.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0218 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_lil1.dae"/>
</geometry>
</collision>
</link>
<joint name="l_lij3" type="revolute">
<origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
<parent link="l_li_dummy"/>
<child link="l_lil1"/>
<axis xyz="0.087189 0.017426 0.996039"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_lil2">
<inertial>
<mass value="0.010"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.019 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_lil2.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.019 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_lil2.dae"/>
</geometry>
</collision>
</link>
<joint name="l_lij4" type="revolute">
<origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
<parent link="l_lil1"/>
<child link="l_lil2"/>
<axis xyz="0.087189 0.017426 0.996039"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<!--link name="l_lil3">
<inertial>
<mass value="0.010"/>
<origin xyz="0.013501 -0.117841 0.025723" rpy="-0.0873 -0.017493 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.0168 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_lil3.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0168 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_lil3.dae"/>
</geometry>
</collision>
</link>
<joint name="l_lij5" type="revolute">
<origin xyz="0.013501 -0.117841 0.025723" rpy="-0.0873 -0.017493 -1.57079"/>
<parent link="l_lil2"/>
<child link="l_lil3"/>
<axis xyz="0.087189 0.017426 0.996039"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_ml_dummy">
<inertial>
<mass value="0.010"/>
<origin xyz="0.011 -0.0653 -0.01" rpy="-1.5708 7e-06 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
</link>
<joint name="l_mj6" type="revolute">
<origin xyz="0.011 -0.0653 -0.01" rpy="-1.5708 7e-06 -1.57079"/>
<parent link="l_hand_base_link"/>
<child link="l_ml_dummy"/>
<axis xyz="-1 0 0"/>
<limit effort="10" velocity="0.5" lower="-1.5708" upper="1.5708"/>
</joint>
<link name="l_ml1">
<inertial>
<mass value="0.010"/>
<origin xyz="0.011 -0.0803 -0.01" rpy="-0 7e-06 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.0285 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ml1.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0285 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ml1.dae"/>
</geometry>
</collision>
</link>
<joint name="l_mj3" type="revolute">
<origin xyz="0.011 -0.0803 -0.01" rpy="-0 7e-06 -1.57079"/>
<parent link="l_ml_dummy"/>
<child link="l_ml1"/>
<axis xyz="0 -7e-06 1"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_ml2">
<inertial>
<mass value="0.010"/>
<origin xyz="0.011 -0.1088 -0.01" rpy="-0 7e-06 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.024 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ml2.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.024 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ml2.dae"/>
</geometry>
</collision>
</link>
<joint name="l_mj4" type="revolute">
<origin xyz="0.011 -0.1088 -0.01" rpy="-0 7e-06 -1.57079"/>
<parent link="l_ml1"/>
<child link="l_ml2"/>
<axis xyz="0 -7e-06 1"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_ml3">
<inertial>
<mass value="0.010"/>
<origin xyz="0.011001 -0.1328 -0.010001" rpy="-0 7e-06 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.0168 0 0" rpy="-1.5708 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ml3.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0168 0 0" rpy="-1.5708 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ml3.dae"/>
</geometry>
</collision>
</link>
<joint name="l_mj5" type="revolute">
<origin xyz="0.011001 -0.1328 -0.010001" rpy="-0 7e-06 -1.57079"/>
<parent link="l_ml2"/>
<child link="l_ml3"/>
<axis xyz="0 -7e-06 1"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_ril_dummy">
<inertial>
<mass value="0.010"/>
<origin xyz="0.01175 -0.06415 0.0059" rpy="-1.6581 -0.008693 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
</link>
<joint name="l_rij6" type="revolute">
<origin xyz="0.01175 -0.06415 0.0059" rpy="-1.6581 -0.008693 -1.57079"/>
<parent link="l_hand_base_link"/>
<child link="l_ril_dummy"/>
<axis xyz="1 0 0"/>
<limit effort="10" velocity="0.5" lower="-1.5708" upper="1.5708"/>
</joint>
<link name="l_ril1">
<inertial>
<mass value="0.010"/>
<origin xyz="0.01175 -0.078949 0.006029" rpy="-0.0873 -0.008693 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.0259 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ril1.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0259 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ril1.dae"/>
</geometry>
</collision>
</link>
<joint name="l_rij3" type="revolute">
<origin xyz="0.01175 -0.078949 0.006029" rpy="-0.0873 -0.008693 -1.57079"/>
<parent link="l_ril_dummy"/>
<child link="l_ril1"/>
<axis xyz="0.087189 0.00866 0.996154"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_ril2">
<inertial>
<mass value="0.010"/>
<origin xyz="0.01175 -0.104848 0.006254" rpy="-0.0873 -0.008693 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.022 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ril2.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.022 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ril2.dae"/>
</geometry>
</collision>
</link>
<joint name="l_rij4" type="revolute">
<origin xyz="0.01175 -0.104848 0.006254" rpy="-0.0873 -0.008693 -1.57079"/>
<parent link="l_ril1"/>
<child link="l_ril2"/>
<axis xyz="0.087189 0.00866 0.996154"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_ril3">
<inertial>
<mass value="0.010"/>
<origin xyz="0.011751 -0.126848 0.006445" rpy="-0.0873 -0.008693 -1.57079"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.0168 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_ril3.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0168 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_ril3.dae"/>
</geometry>
</collision>
</link>
<joint name="l_rij5" type="revolute">
<origin xyz="0.011751 -0.126848 0.006445" rpy="-0.0873 -0.008693 -1.57079"/>
<parent link="l_ril2"/>
<child link="l_ril3"/>
<axis xyz="0.087189 0.00866 0.996154"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_tl0">
<inertial>
<mass value="0.010"/>
<origin xyz="0.021 -0.0386 -0.01235" rpy="-3.063 1.07329 -1.5708"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="-1.5708 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_tl0.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="-1.5708 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_tl0.dae"/>
</geometry>
</collision>
</link>
<joint name="l_tj2" type="revolute">
<origin xyz="0.021 -0.0386 -0.01235" rpy="-3.063 1.07329 -1.5708"/>
<parent link="l_hand_base_link"/>
<child link="l_tl0"/>
<axis xyz="-0.078511 -0.876064 0.47576"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_tl2">
<inertial>
<mass value="0.010"/>
<origin xyz="0.026583 -0.049008 -0.030595" rpy="1.64938 1.07329 -1.5708"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.026 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_tl2.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.026 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_tl2.dae"/>
</geometry>
</collision>
</link>
<joint name="l_tj4" type="revolute">
<origin xyz="0.026583 -0.049008 -0.030595" rpy="1.64938 1.07329 -1.5708"/>
<parent link="l_tl0"/>
<child link="l_tl2"/>
<axis xyz="-0.996914 0.068991 -0.037465"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_tl3">
<inertial>
<mass value="0.010"/>
<origin xyz="0.026583 -0.061416 -0.053443" rpy="1.64938 1.07329 -1.5708"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.022 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_tl3.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.022 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_tl3.dae"/>
</geometry>
</collision>
</link>
<joint name="l_tj5" type="revolute">
<origin xyz="0.026583 -0.061416 -0.053443" rpy="1.64938 1.07329 -1.5708"/>
<parent link="l_tl2"/>
<child link="l_tl3"/>
<axis xyz="-0.996914 0.068991 -0.037465"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint>
<link name="l_tl4">
<inertial>
<mass value="0.010"/>
<origin xyz="0.026583 -0.071915 -0.072776" rpy="1.64938 1.07329 -1.5708"/>
<inertia ixx="0.0000112" ixy="0" ixz="0" iyy="0.0000112" iyz="0" izz="0.0000112"/>
</inertial>
<visual>
<origin xyz="0.0168 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/visual/l_hand/l_tl4.dae"/>
<material>
<color rgba="0 0 0 1"/>
</material>
</geometry>
</visual>
<collision>
<origin xyz="0.0168 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file:///home/yeshi/icub-gazebo/icub/meshes/collision/l_hand/l_tl4.dae"/>
</geometry>
</collision>
</link>
<joint name="l_tj6" type="revolute">
<origin xyz="0.026583 -0.071915 -0.072776" rpy="1.64938 1.07329 -1.5708"/>
<parent link="l_tl3"/>
<child link="l_tl4"/>
<axis xyz="-0.996914 0.068991 -0.037465"/>
<limit effort="10" velocity="0.5" lower="0" upper="1.5708"/>
</joint-->
</robot>