add allegro hand (#5)

- add allegro hand (915d0a4ed226e7cabcd0368b2d47904ff46e5112)


Co-authored-by: Trinity Chung <[email protected]>

allegro_hand/LICENSE

@@ -0,0 +1,23 @@
+Copyright (c) 2016, SimLab
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+
+dex_urdf 2024:
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.
+
+
+Genesis AI 2025:
+
+Updated joint and link names.

allegro_hand/allegro_hand_left.urdf

@@ -0,0 +1,543 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_left">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/base_link_left.obj"/>
+      </geometry>
+      <origin rpy="-1.570795 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_2.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint>
+  <link name="link_4.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_6.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_7.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint>
+  <link name="link_8.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_10.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_11.0">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint> <!-- THUMB -->
+  <link name="link_12.0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_12.0_left.obj"/>
+      </geometry>
+      <origin rpy="3.14159 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin xyz="-0.0182 -0.019333 -0.045987" rpy="0 -1.65806278845 1.5707963259"/>
+  </joint>
+  <link name="link_13.0">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_13.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_14.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_15.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_15.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0543"/>
+  </joint>
+</robot>

allegro_hand/allegro_hand_left_glb.urdf

@@ -0,0 +1,543 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_left">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/base_link_left.glb"/>
+      </geometry>
+      <origin rpy="-1.570795 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="index_0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="index_roll" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="index_0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="index_1">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="index_bend0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="index_0"/>
+    <child link="index_1"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="index_2">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="index_bend1" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="index_1"/>
+    <child link="index_2"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="index_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="index_bend2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="index_2"/>
+    <child link="index_3"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="index_3_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_3_tip" type="fixed">
+    <parent link="index_3"/>
+    <child link="index_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint>
+  <link name="middle_0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="middle_roll" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="middle_0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="middle_1">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="middle_bend0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="middle_0"/>
+    <child link="middle_1"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="middle_2">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="middle_bend1" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="middle_1"/>
+    <child link="middle_2"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="middle_3">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="middle_bend2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="middle_2"/>
+    <child link="middle_3"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="middle_3_tip">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_3_tip" type="fixed">
+    <parent link="middle_3"/>
+    <child link="middle_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint>
+  <link name="ring_0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="ring_roll" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="ring_0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="ring_1">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="ring_bend0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="ring_0"/>
+    <child link="ring_1"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="ring_2">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="ring_bend1" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="ring_1"/>
+    <child link="ring_2"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="ring_3">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="ring_bend2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="ring_2"/>
+    <child link="ring_3"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="ring_3_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_3_tip" type="fixed">
+    <parent link="ring_3"/>
+    <child link="ring_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint> <!-- THUMB -->
+  <link name="thumb_0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_12.0_left.glb"/>
+      </geometry>
+      <origin rpy="3.14159 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="thumb_bend0" type="revolute">
+    <axis xyz="1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="thumb_0"/>
+    <origin xyz="-0.0182 -0.019333 -0.045987" rpy="0 -1.65806278845 1.5707963259"/>
+  </joint>
+  <link name="thumb_1">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_13.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="thumb_roll" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="thumb_0"/>
+    <child link="thumb_1"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="thumb_2">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_14.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="thumb_bend1" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="thumb_1"/>
+    <child link="thumb_2"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="thumb_3">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_15.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="thumb_bend2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="thumb_2"/>
+    <child link="thumb_3"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="thumb_3_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_3_tip" type="fixed">
+    <parent link="thumb_3"/>
+    <child link="thumb_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0543"/>
+  </joint>
+</robot>

allegro_hand/allegro_hand_right.urdf

@@ -0,0 +1,542 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_right">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/base_link.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_2.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint>
+  <link name="link_4.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_6.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_7.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint>
+  <link name="link_8.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_10.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_11.0">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint> <!-- THUMB -->
+  <link name="link_12.0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_12.0_right.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_13.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_14.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_15.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_15.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0543"/>
+  </joint>
+</robot>

allegro_hand/allegro_hand_right_glb.urdf

@@ -0,0 +1,542 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_right">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/base_link.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="index_0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="index_roll" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="index_0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="index_1">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="index_bend0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="index_0"/>
+    <child link="index_1"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="index_2">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="index_bend1" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="index_1"/>
+    <child link="index_2"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="index_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="index_bend2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="index_2"/>
+    <child link="index_3"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="index_3_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_30_tip" type="fixed">
+    <parent link="index_3"/>
+    <child link="index_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint>
+  <link name="middle_0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="middle_roll" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="middle_0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="middle_1">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="middle_bend0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="middle_0"/>
+    <child link="middle_1"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="middle_2">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="middle_bend1" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="middle_1"/>
+    <child link="middle_2"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="middle_3">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="middle_bend2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="middle_2"/>
+    <child link="middle_3"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="middle_3_tip">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_70_tip" type="fixed">
+    <parent link="middle_3"/>
+    <child link="middle_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint>
+  <link name="ring_0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="ring_roll" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="ring_0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="ring_1">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="ring_bend0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="ring_0"/>
+    <child link="ring_1"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="ring_2">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="ring_bend1" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="ring_1"/>
+    <child link="ring_2"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="ring_3">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="ring_bend2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="ring_2"/>
+    <child link="ring_3"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="ring_3_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_110_tip" type="fixed">
+    <parent link="ring_3"/>
+    <child link="ring_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0387"/>
+  </joint> <!-- THUMB -->
+  <link name="thumb_0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_12.0_right.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="thumb_bend0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="thumb_0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="thumb_1">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_13.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="thumb_roll" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="thumb_0"/>
+    <child link="thumb_1"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="thumb_2">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_14.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="thumb_bend1" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="thumb_1"/>
+    <child link="thumb_2"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="thumb_3">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link_15.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="thumb_bend2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="thumb_2"/>
+    <child link="thumb_3"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="thumb_3_tip">
+    <inertial>
+      <mass value="0.0168"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.012"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_150_tip" type="fixed">
+    <parent link="thumb_3"/>
+    <child link="thumb_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0543"/>
+  </joint>
+</robot>

allegro_hand/meshes/collision/link_tip.obj

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allegro_hand/meshes/visual/base_link_left.mtl

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allegro_hand/meshes/visual/link_tip.mtl

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allegro_hand/variation/allegro_hand_right_fsr.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_right">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/base_link.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
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+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
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+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
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+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
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+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
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+      </geometry>
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+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_1.0_fsr">
+    <visual>
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+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
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+    <visual>
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+      </geometry>
+    </visual>
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+  <joint name="joint_2.0" type="revolute">
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+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_1.0"/>
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+  <link name="link_2.0_fsr">
+    <visual>
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+      <geometry>
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+  </link>
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+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
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+  <link name="link_3.0_tip">
+    <visual>
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+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
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+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_3.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip_fsr" type="fixed">
+    <parent link="link_3.0_tip"/>
+    <child link="link_3.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_4.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_5.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5.0_fsr" type="fixed">
+    <parent link="link_5.0"/>
+    <child link="link_5.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_6.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_6.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_6.0_fsr" type="fixed">
+    <parent link="link_6.0"/>
+    <child link="link_6.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_7.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_7.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip_fsr" type="fixed">
+    <parent link="link_7.0_tip"/>
+    <child link="link_7.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_8.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_9.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_9.0_fsr" type="fixed">
+    <parent link="link_9.0"/>
+    <child link="link_9.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_10.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_10.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_10.0_fsr" type="fixed">
+    <parent link="link_10.0"/>
+    <child link="link_10.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_11.0">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_11.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip_fsr" type="fixed">
+    <parent link="link_11.0_tip"/>
+    <child link="link_11.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_12.0_right.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_13.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_14.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_14.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_14.0_fsr" type="fixed">
+    <parent link="link_14.0"/>
+    <child link="link_14.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_15.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_fsr" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+  </joint>
+  <link name="link_15.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip_fsr" type="fixed">
+    <parent link="link_15.0_tip"/>
+    <child link="link_15.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+
+  <!-- Palm fsr sensor -->
+  <link name="link_base_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_0.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.obj" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_base_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_base_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.002 -0.035 -0.065"/>
+  </joint>
+  <joint name="joint_0.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8.0_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.001 -0.041 -0.015"/>
+  </joint>
+  <joint name="joint_4.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0.001 0 -0.013"/>
+  </joint>
+  <joint name="joint_8.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_0.0_fsr"/>
+    <origin rpy="0.09 0 0" xyz="0.001 0.041 -0.015"/>
+  </joint>
+</robot>

allegro_hand/variation/allegro_hand_right_fsr_cylinder.urdf

@@ -0,0 +1,840 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_right">
+  <material name="tactile">
+    <color rgba="1 0 0 1"/>
+  </material>
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/base_link.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_1.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_1.0_fsr" type="fixed">
+    <parent link="link_1.0"/>
+    <child link="link_1.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.03"/>
+  </joint>
+  <link name="link_2.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_2.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_2.0_fsr" type="fixed">
+    <parent link="link_2.0"/>
+    <child link="link_2.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_3.0_tip_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip_fsr" type="fixed">
+    <parent link="link_3.0_tip"/>
+    <child link="link_3.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="link_4.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_5.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5.0_fsr" type="fixed">
+    <parent link="link_5.0"/>
+    <child link="link_5.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.03"/>
+  </joint>
+  <link name="link_6.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_6.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_6.0_fsr" type="fixed">
+    <parent link="link_6.0"/>
+    <child link="link_6.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_7.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_7.0_tip_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip_fsr" type="fixed">
+    <parent link="link_7.0_tip"/>
+    <child link="link_7.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="link_8.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_9.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_9.0_fsr" type="fixed">
+    <parent link="link_9.0"/>
+    <child link="link_9.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.03"/>
+  </joint>
+  <link name="link_10.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_10.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_10.0_fsr" type="fixed">
+    <parent link="link_10.0"/>
+    <child link="link_10.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_11.0">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_11.0_tip_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip_fsr" type="fixed">
+    <parent link="link_11.0_tip"/>
+    <child link="link_11.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_12.0_right.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_13.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_14.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_14.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_14.0_fsr" type="fixed">
+    <parent link="link_14.0"/>
+    <child link="link_14.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_15.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_fsr" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_tip.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="../meshes/collision/link_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+  </joint>
+  <link name="link_15.0_tip_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip_fsr" type="fixed">
+    <parent link="link_15.0_tip"/>
+    <child link="link_15.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+
+  <!-- Palm fsr sensor -->
+  <link name="link_base_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_0.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8.0_fsr">
+    <visual>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.570795 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.008"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_base_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_base_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.002 -0.025 -0.053"/>
+  </joint>
+  <joint name="joint_0.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8.0_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.001 -0.041 -0.01"/>
+  </joint>
+  <joint name="joint_4.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0.001 0 -0.01"/>
+  </joint>
+  <joint name="joint_8.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_0.0_fsr"/>
+    <origin rpy="0.09 0 0" xyz="0.001 0.041 -0.01"/>
+  </joint>
+</robot>

allegro_hand/variation/allegro_hand_right_fsr_glb.urdf

@@ -0,0 +1,829 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_right">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/base_link.glb"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_1.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_1.0_fsr" type="fixed">
+    <parent link="link_1.0"/>
+    <child link="link_1.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_2.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_2.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_2.0_fsr" type="fixed">
+    <parent link="link_2.0"/>
+    <child link="link_2.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_3.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip_fsr" type="fixed">
+    <parent link="link_3.0_tip"/>
+    <child link="link_3.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_4.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_5.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5.0_fsr" type="fixed">
+    <parent link="link_5.0"/>
+    <child link="link_5.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_6.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_6.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_6.0_fsr" type="fixed">
+    <parent link="link_6.0"/>
+    <child link="link_6.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_7.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_7.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip_fsr" type="fixed">
+    <parent link="link_7.0_tip"/>
+    <child link="link_7.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_8.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_9.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_9.0_fsr" type="fixed">
+    <parent link="link_9.0"/>
+    <child link="link_9.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_10.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_10.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_10.0_fsr" type="fixed">
+    <parent link="link_10.0"/>
+    <child link="link_10.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_11.0">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_11.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip_fsr" type="fixed">
+    <parent link="link_11.0_tip"/>
+    <child link="link_11.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_12.0_right.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_13.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_14.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_14.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_14.0_fsr" type="fixed">
+    <parent link="link_14.0"/>
+    <child link="link_14.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_15.0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_fsr" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+  </joint>
+  <link name="link_15.0_tip_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip_fsr" type="fixed">
+    <parent link="link_15.0_tip"/>
+    <child link="link_15.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+
+  <!-- Palm fsr sensor -->
+  <link name="link_base_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_0.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8.0_fsr">
+    <visual>
+      <origin rpy="1.57079 0 1.57079" xyz="0.0108 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/tactile.glb" scale="0.6 0.6 0.6"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_base_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_base_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.002 -0.035 -0.065"/>
+  </joint>
+  <joint name="joint_0.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8.0_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.001 -0.041 -0.015"/>
+  </joint>
+  <joint name="joint_4.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0.001 0 -0.013"/>
+  </joint>
+  <joint name="joint_8.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_0.0_fsr"/>
+    <origin rpy="0.09 0 0" xyz="0.001 0.041 -0.015"/>
+  </joint>
+</robot>

allegro_hand/variation/allegro_hand_right_fsr_simple.urdf

@@ -0,0 +1,848 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="allegro_right">
+  <material name="tactile">
+    <color rgba="1 0 0 1"/>
+  </material>
+  <link name="base_link">
+    <inertial>
+      <mass value="0.4154"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/base_link.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
+      <geometry>
+        <box size="0.0414 0.112 0.0448"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
+      <geometry>
+        <box size="0.0414 0.0538 0.0428"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
+      <geometry>
+        <box size="0.0414 0.0720 0.013"/>
+      </geometry>
+    </collision>
+  </link> <!--  virtual link-->
+  <link name="palm"/>
+  <joint name="palm_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="palm"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
+  </joint> <!--  virtual link-->
+  <link name="wrist"/>
+  <joint name="wrist_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
+    <parent link="palm"/>
+    <child link="wrist"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_1.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_1.0_fsr" type="fixed">
+    <parent link="link_1.0"/>
+    <child link="link_1.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_2.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_2.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_2.0_fsr" type="fixed">
+    <parent link="link_2.0"/>
+    <child link="link_2.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_3.0_tip_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip_fsr" type="fixed">
+    <parent link="link_3.0_tip"/>
+    <child link="link_3.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_4.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_5.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5.0_fsr" type="fixed">
+    <parent link="link_5.0"/>
+    <child link="link_5.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_6.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_6.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_6.0_fsr" type="fixed">
+    <parent link="link_6.0"/>
+    <child link="link_6.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_7.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_7.0_tip_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip_fsr" type="fixed">
+    <parent link="link_7.0_tip"/>
+    <child link="link_7.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <link name="link_8.0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_0.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <inertial>
+      <mass value="0.065"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_1.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_9.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_9.0_fsr" type="fixed">
+    <parent link="link_9.0"/>
+    <child link="link_9.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_10.0">
+    <inertial>
+      <mass value="0.0355"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_2.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_10.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_10.0_fsr" type="fixed">
+    <parent link="link_10.0"/>
+    <child link="link_10.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_11.0">
+    <inertial>
+      <mass value="0.0096"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_3.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.022"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.060"/>
+  </joint>
+  <link name="link_11.0_tip_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip_fsr" type="fixed">
+    <parent link="link_11.0_tip"/>
+    <child link="link_11.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <inertial>
+      <mass value="0.0176"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_12.0_right.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <inertial>
+      <mass value="0.0119"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_13.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <inertial>
+      <mass value="0.038"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_14.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_14.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_14.0_fsr" type="fixed">
+    <parent link="link_14.0"/>
+    <child link="link_14.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0">
+    <inertial>
+      <mass value="0.0388"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="../meshes/visual/link_15.0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0269 0.04"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_fsr" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0 0 0.02"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/visual/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.570795" xyz="0 0 -0.020"/>
+      <geometry>
+        <mesh filename="meshes/collision/longer_finger_tip.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+  </joint>
+  <link name="link_15.0_tip_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip_fsr" type="fixed">
+    <parent link="link_15.0_tip"/>
+    <child link="link_15.0_tip_fsr"/>
+    <origin rpy="0 0 0" xyz="-0.005 0 -0.015"/>
+  </joint>
+
+  <!-- Palm fsr sensor -->
+  <link name="link_base_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_0.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_8.0_fsr">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+      <material name="tactile"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0108 0 0"/>
+      <geometry>
+        <box size="0.003 0.0228 0.0168"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_base_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_base_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.002 -0.035 -0.065"/>
+  </joint>
+  <joint name="joint_0.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_8.0_fsr"/>
+    <origin rpy="-0.09 0 0" xyz="0.001 -0.041 -0.015"/>
+  </joint>
+  <joint name="joint_4.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_4.0_fsr"/>
+    <origin rpy="0 0 0" xyz="0.001 0 -0.013"/>
+  </joint>
+  <joint name="joint_8.0_fsr" type="fixed">
+    <parent link="base_link"/>
+    <child link="link_0.0_fsr"/>
+    <origin rpy="0.09 0 0" xyz="0.001 0.041 -0.015"/>
+  </joint>
+</robot>

allegro_hand/variation/meshes/collision/longer_finger_tip.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9bcc85a90a9d63f4767ba4a3e931e67dedb952132e3605f9cbcc697a1dbb88
+size 102200