Course_ShadowHandInstructionManual_Unit2.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Mastering with ROS: Shadow Hand"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Unit 2: How to attach the Hand to a Robot"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:green;color:white;\">SUMMARY</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Estimated time of completion: <b>30 min</b><br><br>\n",
    "Within this Unit you will see how to attach the Shadow Hand to an industrial robot, in this case, the UR5. You will go trough some basic knowledge regarding URDF files and how to modify them."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:green;color:white;\">END OF SUMMARY</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Analyzing the URDF file"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The Unified Robot Description Format (URDF) is an XML format that is used to represent a robot model. The URDF file of a robot is the file that describes everything about it. From the visual part and how it looks, to the physical part such as the collision data or the inertia data. URDF files are widely used for representing robots in regular ROS systems."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Keep in mind that you are not going to learn the fundamentals about URDF files during this Course. If you are interested in learning more about URDF, you can have a look at the <b>Robot Creation with URDF Course</b> from the Robot Ignite Academy."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Obviously, the Shadow Hand is also defined in an URDF file. Let's have a look at it!"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:#EE9023;color:white;\">Exercise 2.1</p>\n",
    "<br>\n",
    "a) Go to the directory where the URDF file is located.\n",
    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "Execute in WebShell #1\n",
    "</th>\n",
    "</tr>\n",
    "</table>"
   ]
  },
  {
   "cell_type": "raw",
   "metadata": {},
   "source": [
    "roscd fh_desc"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "b) Now, copy that file to your workspace, so you can visualize it using the IDE."
   ]
  },
  {
   "cell_type": "raw",
   "metadata": {},
   "source": [
    "cp model_hand.urdf /home/user/catkin_ws/src/"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "c) Have a look at the file and try to identify the different parts where the Shadow Hand is defined."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:#EE9023;color:white;\">End of Exercise 2.1</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "So... having the Shadow Hand is really great, for sure. But... it would be much better and useful if we can attach it to a robotic arm. Don't you agree? And... how can we do that? Let'see!"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "As you have seen in the URDF file, the Shadow Hand is actually being attached to a table, which is defined by the table link. You can see that definition in the following URDF section:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "<link name=\"table\">\n",
    "  <visual>\n",
    "    <geometry>\n",
    "      <box size=\"0.6 0.6 0.05\"/>\n",
    "    </geometry>\n",
    "  </visual>\n",
    "  <collision>\n",
    "    <geometry>\n",
    "      <box size=\"0.6 0.6 0.05\"/>\n",
    "    </geometry>\n",
    "  </collision>\n",
    "</link>\n",
    "  \n",
    "<joint name=\"table_to_hand\" type=\"fixed\">\n",
    "  <parent link=\"table\"/>\n",
    "  <child link=\"H1_base_attach\"/>\n",
    "  <origin xyz=\"0.0 0.0 0.05\" rpy=\"0.0 0.0 0.0\"/>\n",
    "</joint>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "So... what if, instead of attaching it to a table, we add it to a robotic arm. For achieveing that, then, we'll need to basically do the following:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "1. Add the definition of the robotic arm to the URDF file.\n",
    "2. Create a joint that connects the robotic arm to the ground.\n",
    "3. Create a joint that connects the robotic arm to the Shadow Hand.\n",
    "4. Remove the table joints and links."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "In order to achieve this, let's follow the next exercise!"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:#EE9023;color:white;\">Exercise 2.2</p>\n",
    "<br>\n",
    "a) Create a new package called **hand_with_arm**. Inside this package, create a new folder called **urdf**.\n",
    "<br><br>\n",
    "b) Modify the name of the URDF file you copied in the previous exercise to **hand_with_arm.urdf**, and move it to the **urdf** folder of the **hand_with_arm** package.\n",
    "<br><br>\n",
    "c) Inside this file, add the following URDF code, which defines the UR5 robotic arm."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
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   "source": [
    "  <link name=\"base_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/base.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/base.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"4.0\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.0061063308908\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0061063308908\" iyz=\"0.0\" izz=\"0.01125\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"shoulder_pan_joint\" type=\"revolute\">\n",
    "    <parent link=\"base_link\"/>\n",
    "    <child link=\"shoulder_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 0.0 0.1273\"/>\n",
    "    <axis xyz=\"0 0 1\"/>\n",
    "    <limit effort=\"330.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"2.16\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"shoulder_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/shoulder.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/shoulder.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"7.778\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.0314743125769\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0314743125769\" iyz=\"0.0\" izz=\"0.021875625\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"shoulder_lift_joint\" type=\"revolute\">\n",
    "    <parent link=\"shoulder_link\"/>\n",
    "    <child link=\"upper_arm_link\"/>\n",
    "    <origin rpy=\"0.0 1.57079632679 0.0\" xyz=\"0.0 0.220941 0.0\"/>\n",
    "    <axis xyz=\"0 1 0\"/>\n",
    "    <limit effort=\"330.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"2.16\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"upper_arm_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/upperarm.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/upperarm.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"12.93\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.306\"/>\n",
    "      <inertia ixx=\"0.421753803798\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.421753803798\" iyz=\"0.0\" izz=\"0.036365625\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"elbow_joint\" type=\"revolute\">\n",
    "    <parent link=\"upper_arm_link\"/>\n",
    "    <child link=\"forearm_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 -0.1719 0.612\"/>\n",
    "    <axis xyz=\"0 1 0\"/>\n",
    "    <limit effort=\"150.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"3.15\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"forearm_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/forearm.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/forearm.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"3.87\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.28615\"/>\n",
    "      <inertia ixx=\"0.111069694097\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.111069694097\" iyz=\"0.0\" izz=\"0.010884375\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"wrist_1_joint\" type=\"revolute\">\n",
    "    <parent link=\"forearm_link\"/>\n",
    "    <child link=\"wrist_1_link\"/>\n",
    "    <origin rpy=\"0.0 1.57079632679 0.0\" xyz=\"0.0 0.0 0.5723\"/>\n",
    "    <axis xyz=\"0 1 0\"/>\n",
    "    <limit effort=\"54.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"3.2\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"wrist_1_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/wrist1.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/wrist1.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"1.96\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.0051082479567\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0051082479567\" iyz=\"0.0\" izz=\"0.0055125\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"wrist_2_joint\" type=\"revolute\">\n",
    "    <parent link=\"wrist_1_link\"/>\n",
    "    <child link=\"wrist_2_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 0.1149 0.0\"/>\n",
    "    <axis xyz=\"0 0 1\"/>\n",
    "    <limit effort=\"54.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"3.2\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"wrist_2_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/wrist2.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/wrist2.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"1.96\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.0051082479567\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0051082479567\" iyz=\"0.0\" izz=\"0.0055125\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"wrist_3_joint\" type=\"revolute\">\n",
    "    <parent link=\"wrist_2_link\"/>\n",
    "    <child link=\"wrist_3_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 0.0 0.1157\"/>\n",
    "    <axis xyz=\"0 1 0\"/>\n",
    "    <limit effort=\"54.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"3.2\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"wrist_3_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/wrist3.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/wrist3.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"0.202\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.000526462289415\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.000526462289415\" iyz=\"0.0\" izz=\"0.000568125\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"ee_fixed_joint\" type=\"fixed\">\n",
    "    <parent link=\"wrist_3_link\"/>\n",
    "    <child link=\"ee_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 1.57079632679\" xyz=\"0.0 0.0922 0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"ee_link\">\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <box size=\"0.01 0.01 0.01\"/>\n",
    "      </geometry>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.01 0 0\"/>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <transmission name=\"shoulder_pan_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"shoulder_pan_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"shoulder_pan_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"shoulder_lift_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"shoulder_lift_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"shoulder_lift_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"elbow_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"elbow_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"elbow_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"wrist_1_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"wrist_1_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"wrist_1_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"wrist_2_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"wrist_2_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"wrist_2_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"wrist_3_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"wrist_3_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"wrist_3_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <!-- nothing to do here at the moment -->\n",
    "  <!-- ROS base_link to UR 'Base' Coordinates transform -->\n",
    "  <link name=\"base\"/>\n",
    "  <joint name=\"base_link-base_fixed_joint\" type=\"fixed\">\n",
    "    <!-- NOTE: this rotation is only needed as long as base_link itself is\n",
    "                 not corrected wrt the real robot (ie: rotated over 180\n",
    "                 degrees)\n",
    "      -->\n",
    "    <origin rpy=\"0 0 -3.14159265359\" xyz=\"0 0 0\"/>\n",
    "    <parent link=\"base_link\"/>\n",
    "    <child link=\"base\"/>\n",
    "  </joint>\n",
    "  <!-- Frame coincident with all-zeros TCP on UR controller -->\n",
    "  <link name=\"tool0\"/>\n",
    "  <joint name=\"wrist_3_link-tool0_fixed_joint\" type=\"fixed\">\n",
    "    <origin rpy=\"-1.57079632679 0 0\" xyz=\"0 0.0922 0\"/>\n",
    "    <parent link=\"wrist_3_link\"/>\n",
    "    <child link=\"tool0\"/>\n",
    "  </joint>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The above piece of URDF file contains the **link**, **joint** and **transmission** tags needed to define the UR5 robotic arm."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "d) Remove from the URDF file the links and joints related to the table."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "e) Add a joint that connects the **world link** (which is placed in the simulation ground) to the **base_link** of the UR5 arm (which represents the base of the robotic arm)."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "  <joint name=\"world_joint\" type=\"fixed\">\n",
    "    <parent link=\"world\"/>\n",
    "    <child link=\"base_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 -1.0 1.0\"/>\n",
    "  </joint>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "f) Add a joint that connect the end of the robotic arm (which is represented by the **ee_link**) to the base of the Shadow Hand (which is represented by the **H1_base_attach** link)."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "<joint name=\"arm_to_hand\" type=\"fixed\">\n",
    "    <parent link=\"ee_link\"/>\n",
    "    <child link=\"H1_base_attach\"/>\n",
    "    <origin rpy=\"1.57079632679 3.14159265359 1.57079632679\" xyz=\"0.012 0.0 0.0\"/>\n",
    "  </joint>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:#AE0202;color:white;\">Expected Result for Exercise 2.2</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Example of complete URDF file:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "<?xml version=\"1.0\" ?>\n",
    "\n",
    "<robot name=\"smart_grasping_sandbox\" xmlns:xacro=\"http://ros.org/wiki/xacro\">\n",
    "\n",
    "  <!-- link lengths used in model -->\n",
    "  <link name=\"world\"/>\n",
    "  <joint name=\"world_joint\" type=\"fixed\">\n",
    "    <parent link=\"world\"/>\n",
    "    <child link=\"base_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 -1.0 1.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"base_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/base.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/base.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"4.0\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.0061063308908\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0061063308908\" iyz=\"0.0\" izz=\"0.01125\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"shoulder_pan_joint\" type=\"revolute\">\n",
    "    <parent link=\"base_link\"/>\n",
    "    <child link=\"shoulder_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 0.0 0.1273\"/>\n",
    "    <axis xyz=\"0 0 1\"/>\n",
    "    <limit effort=\"330.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"2.16\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"shoulder_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/shoulder.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/shoulder.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"7.778\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.0314743125769\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0314743125769\" iyz=\"0.0\" izz=\"0.021875625\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"shoulder_lift_joint\" type=\"revolute\">\n",
    "    <parent link=\"shoulder_link\"/>\n",
    "    <child link=\"upper_arm_link\"/>\n",
    "    <origin rpy=\"0.0 1.57079632679 0.0\" xyz=\"0.0 0.220941 0.0\"/>\n",
    "    <axis xyz=\"0 1 0\"/>\n",
    "    <limit effort=\"330.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"2.16\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"upper_arm_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/upperarm.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/upperarm.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"12.93\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.306\"/>\n",
    "      <inertia ixx=\"0.421753803798\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.421753803798\" iyz=\"0.0\" izz=\"0.036365625\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"elbow_joint\" type=\"revolute\">\n",
    "    <parent link=\"upper_arm_link\"/>\n",
    "    <child link=\"forearm_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 -0.1719 0.612\"/>\n",
    "    <axis xyz=\"0 1 0\"/>\n",
    "    <limit effort=\"150.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"3.15\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"forearm_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/forearm.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/forearm.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"3.87\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.28615\"/>\n",
    "      <inertia ixx=\"0.111069694097\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.111069694097\" iyz=\"0.0\" izz=\"0.010884375\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"wrist_1_joint\" type=\"revolute\">\n",
    "    <parent link=\"forearm_link\"/>\n",
    "    <child link=\"wrist_1_link\"/>\n",
    "    <origin rpy=\"0.0 1.57079632679 0.0\" xyz=\"0.0 0.0 0.5723\"/>\n",
    "    <axis xyz=\"0 1 0\"/>\n",
    "    <limit effort=\"54.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"3.2\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"wrist_1_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/wrist1.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/wrist1.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"1.96\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.0051082479567\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0051082479567\" iyz=\"0.0\" izz=\"0.0055125\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"wrist_2_joint\" type=\"revolute\">\n",
    "    <parent link=\"wrist_1_link\"/>\n",
    "    <child link=\"wrist_2_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 0.1149 0.0\"/>\n",
    "    <axis xyz=\"0 0 1\"/>\n",
    "    <limit effort=\"54.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"3.2\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"wrist_2_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/wrist2.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/wrist2.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"1.96\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.0051082479567\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.0051082479567\" iyz=\"0.0\" izz=\"0.0055125\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"wrist_3_joint\" type=\"revolute\">\n",
    "    <parent link=\"wrist_2_link\"/>\n",
    "    <child link=\"wrist_3_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.0 0.0 0.1157\"/>\n",
    "    <axis xyz=\"0 1 0\"/>\n",
    "    <limit effort=\"54.0\" lower=\"-3.14159265359\" upper=\"3.14159265359\" velocity=\"3.2\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"wrist_3_link\">\n",
    "    <visual>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/visual/wrist3.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"LightGrey\">\n",
    "        <color rgba=\"0.7 0.7 0.7 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://ur_description/meshes/ur10/collision/wrist3.dae\"/>\n",
    "      </geometry>\n",
    "    </collision>\n",
    "    <inertial>\n",
    "      <mass value=\"0.202\"/>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n",
    "      <inertia ixx=\"0.000526462289415\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"0.000526462289415\" iyz=\"0.0\" izz=\"0.000568125\"/>\n",
    "    </inertial>\n",
    "  </link>\n",
    "  <joint name=\"ee_fixed_joint\" type=\"fixed\">\n",
    "    <parent link=\"wrist_3_link\"/>\n",
    "    <child link=\"ee_link\"/>\n",
    "    <origin rpy=\"0.0 0.0 1.57079632679\" xyz=\"0.0 0.0922 0.0\"/>\n",
    "  </joint>\n",
    "  <link name=\"ee_link\">\n",
    "    <collision>\n",
    "      <geometry>\n",
    "        <box size=\"0.01 0.01 0.01\"/>\n",
    "      </geometry>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.01 0 0\"/>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <transmission name=\"shoulder_pan_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"shoulder_pan_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"shoulder_pan_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"shoulder_lift_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"shoulder_lift_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"shoulder_lift_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"elbow_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"elbow_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"elbow_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"wrist_1_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"wrist_1_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"wrist_1_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"wrist_2_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"wrist_2_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"wrist_2_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <transmission name=\"wrist_3_trans\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <joint name=\"wrist_3_joint\">\n",
    "      <hardwareInterface>PositionJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "    <actuator name=\"wrist_3_motor\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "  </transmission>\n",
    "  <!-- nothing to do here at the moment -->\n",
    "  <!-- ROS base_link to UR 'Base' Coordinates transform -->\n",
    "  <link name=\"base\"/>\n",
    "  <joint name=\"base_link-base_fixed_joint\" type=\"fixed\">\n",
    "    <!-- NOTE: this rotation is only needed as long as base_link itself is\n",
    "                 not corrected wrt the real robot (ie: rotated over 180\n",
    "                 degrees)\n",
    "      -->\n",
    "    <origin rpy=\"0 0 -3.14159265359\" xyz=\"0 0 0\"/>\n",
    "    <parent link=\"base_link\"/>\n",
    "    <child link=\"base\"/>\n",
    "  </joint>\n",
    "  <!-- Frame coincident with all-zeros TCP on UR controller -->\n",
    "  <link name=\"tool0\"/>\n",
    "  <joint name=\"wrist_3_link-tool0_fixed_joint\" type=\"fixed\">\n",
    "    <origin rpy=\"-1.57079632679 0 0\" xyz=\"0 0.0922 0\"/>\n",
    "    <parent link=\"wrist_3_link\"/>\n",
    "    <child link=\"tool0\"/>\n",
    "  </joint>\n",
    "\n",
    "  \n",
    "  <link name=\"H1_base_attach\"/>\n",
    "  <material name=\"Blue\">\n",
    "    <color rgba=\"0.0 0.0 0.8 1.0\"/>\n",
    "  </material>\n",
    "  <material name=\"Green\">\n",
    "    <color rgba=\"0.0 0.8 0.0 1.0\"/>\n",
    "  </material>\n",
    "  <material name=\"BiotacGreen\">\n",
    "    <color rgba=\"0.31 0.85 0.42 1.0\"/>\n",
    "  </material>\n",
    "  <material name=\"Grey\">\n",
    "    <color rgba=\"0.2 0.2 0.2 1.0\"/>\n",
    "  </material>\n",
    "  <material name=\"LightGrey\">\n",
    "    <color rgba=\"0.6 0.6 0.6 1.0\"/>\n",
    "  </material>\n",
    "  <material name=\"Red\">\n",
    "    <color rgba=\"0.8 0.0 0.0 1.0\"/>\n",
    "  </material>\n",
    "  <material name=\"White\">\n",
    "    <color rgba=\"1.0 1.0 1.0 1.0\"/>\n",
    "  </material>\n",
    "  <gazebo>\n",
    "    <plugin filename=\"libgazebo_ros_control.so\" name=\"ros_control\">\n",
    "      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>\n",
    "    </plugin>\n",
    "  </gazebo>\n",
    "  <link name=\"H1_base_link\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-8.6116E-06 -0.0058125 0.028294\"/>\n",
    "      <mass value=\"0.07527\"/>\n",
    "      <inertia ixx=\"0.00014442\" ixy=\"1.2033E-08\" ixz=\"-5.9646E-10\" iyy=\"0.00014979\" iyz=\"-1.0288E-05\" izz=\"5.2943E-05\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/palm_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/palm_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <joint name=\"H1Base\" type=\"fixed\">\n",
    "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "    <parent link=\"H1_base_attach\"/>\n",
    "    <child link=\"H1_wrist_attach\"/>\n",
    "  </joint>\n",
    "  \n",
    "  <gazebo>\n",
    "    <plugin name=\"imu_controller\" filename=\"libgazebo_ros_imu.so\">\n",
    "      <alwaysOn>true</alwaysOn>\n",
    "      <updateRate>50</updateRate>\n",
    "      <bodyName>H1_base_link</bodyName>\n",
    "      <!--imu_link -->\n",
    "      <topicName>imu/data</topicName>\n",
    "      <serviceName>imu/is_calibrated</serviceName>\n",
    "      <gaussianNoise>2.89e-08</gaussianNoise>\n",
    "      <xyzOffsets>0 0 0</xyzOffsets>\n",
    "      <rpyOffsets>0 0 0</rpyOffsets>\n",
    "    </plugin>\n",
    "  </gazebo>\n",
    "  \n",
    "  <link name=\"H1_insert_F1\"/>\n",
    "  <joint name=\"H1_dummy_joint_1\" type=\"fixed\">\n",
    "    <origin rpy=\"0 0 2.3562\" xyz=\"-0.045 -0.025981 0\"/>\n",
    "    <axis xyz=\"0 -1 0\"/>\n",
    "    <parent link=\"H1_base_link\"/>\n",
    "    <child link=\"H1_insert_F1\"/>\n",
    "  </joint>\n",
    "  <link name=\"H1_insert_F2\"/>\n",
    "  <joint name=\"H1_dummy_joint_2\" type=\"fixed\">\n",
    "    <origin rpy=\"0 0 0\" xyz=\"0 0.029019 0\"/>\n",
    "    <axis xyz=\"0 -1 0\"/>\n",
    "    <parent link=\"H1_base_link\"/>\n",
    "    <child link=\"H1_insert_F2\"/>\n",
    "  </joint>\n",
    "  <link name=\"H1_insert_F3\"/>\n",
    "  <joint name=\"H1_dummy_joint_3\" type=\"fixed\">\n",
    "    <origin rpy=\"0 0 -2.3562\" xyz=\"0.045 -0.025981 0\"/>\n",
    "    <axis xyz=\"0 -1 0\"/>\n",
    "    <parent link=\"H1_base_link\"/>\n",
    "    <child link=\"H1_insert_F3\"/>\n",
    "  </joint>\n",
    "  <link name=\"H1_wrist_attach\"/>\n",
    "  <joint name=\"H1_base_link_wrist_attach\" type=\"fixed\">\n",
    "    <origin rpy=\"0 0 0\" xyz=\"0 0 -0.0005\"/>\n",
    "    <child link=\"H1_base_link\"/>\n",
    "    <parent link=\"H1_wrist_attach\"/>\n",
    "  </joint>\n",
    "  <link name=\"H1_F1_palm_link\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.00681802120880393 -0.00947020456878004 0.067587996682422\"/>\n",
    "      <mass value=\"0.0341482312344481\"/>\n",
    "      <inertia ixx=\"2.79747833772125E-05\" ixy=\"-5.50900644725373E-08\" ixz=\"-2.82072424927723E-07\" iyy=\"2.67800858812928E-05\" iyz=\"3.1953125069394E-06\" izz=\"9.86122271726361E-06\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_palm_link.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <!-- Collision mesh no needed as it is part of palm_link_simple.dae collision mesh -->\n",
    "    <!--xacro:mesh_collision file_name=\"v2/finger_palm_link.dae\">\n",
    "        <origin xyz=\"0 0 0\" rpy=\"0 0 0\" />\n",
    "        <xacro:light_grey/>\n",
    "      </xacro:mesh_collision-->\n",
    "  </link>\n",
    "  <link name=\"H1_F1_base_link\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.000142856770000038 0.0265691681336443 0.0538751581621436\"/>\n",
    "      <mass value=\"0.174652229503358\"/>\n",
    "      <inertia ixx=\"0.000298372741514267\" ixy=\"-5.05751882577435E-07\" ixz=\"1.94982779411417E-07\" iyy=\"0.000299629589232877\" iyz=\"2.79565205733806E-05\" izz=\"0.000134889645145365\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_base_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_base_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <link name=\"H1_F1_link_1\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.000141876508729455 -0.00135409566494088 0.0277606215980989\"/>\n",
    "      <mass value=\"0.0827759744227546\"/>\n",
    "      <inertia ixx=\"4.61070151157777E-05\" ixy=\"7.47741111557837E-08\" ixz=\"-2.25165057702697E-07\" iyy=\"5.27678327317508E-05\" iyz=\"-3.64603343546298E-07\" izz=\"2.89599551320955E-05\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_prox_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_prox_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <link name=\"H1_F1_link_2\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.000506812071918918 -0.00091292934992606 0.0156620851768385\"/>\n",
    "      <mass value=\"0.0270049614151599\"/>\n",
    "      <inertia ixx=\"1.06942730265546E-05\" ixy=\"-7.1810089794211E-09\" ixz=\"-3.49957211410822E-07\" iyy=\"1.05772889540593E-05\" iyz=\"-8.38595987731518E-07\" izz=\"3.27173446995846E-06\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_dist_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_dist_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <joint name=\"H1_F1Palm\" type=\"fixed\">\n",
    "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "    <parent link=\"H1_insert_F1\"/>\n",
    "    <child link=\"H1_F1_palm_link\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F1J1\" type=\"revolute\">\n",
    "    <origin rpy=\"-8.8818E-16 -1.0061E-16 0.022402\" xyz=\"0 0 0.00016528\"/>\n",
    "    <axis xyz=\"0 0 1\"/>\n",
    "    <parent link=\"H1_F1_palm_link\"/>\n",
    "    <child link=\"H1_F1_base_link\"/>\n",
    "    <limit effort=\"50\" lower=\"-0.785398163397\" upper=\"0.785398163397\" velocity=\"1.0\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F1J2\" type=\"revolute\">\n",
    "    <origin rpy=\"0.070695 6.9389E-16 2.0947E-16\" xyz=\"0 0.035 0.11683\"/>\n",
    "    <axis xyz=\"1 0 0\"/>\n",
    "    <parent link=\"H1_F1_base_link\"/>\n",
    "    <child link=\"H1_F1_link_1\"/>\n",
    "    <limit effort=\"50\" lower=\"-1.3962634016\" upper=\"1.0471975512\" velocity=\"1.0\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F1J3\" type=\"revolute\">\n",
    "    <origin rpy=\"-0.0068649 1.7347E-18 1.6176E-16\" xyz=\"0 0 0.06\"/>\n",
    "    <axis xyz=\"1 0 0\"/>\n",
    "    <parent link=\"H1_F1_link_1\"/>\n",
    "    <child link=\"H1_F1_link_2\"/>\n",
    "    <limit effort=\"50\" lower=\"-1.0471975512\" upper=\"1.57079632679\" velocity=\"1.0\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <transmission name=\"H1_F1J1_transmission\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <actuator name=\"H1_F1J1\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "    <joint name=\"H1_F1J1\">\n",
    "      <hardwareInterface>EffortJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "  </transmission>\n",
    "  <transmission name=\"H1_F1J2_transmission\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <actuator name=\"H1_F1J2\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "    <joint name=\"H1_F1J2\">\n",
    "      <hardwareInterface>EffortJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "  </transmission>\n",
    "  <transmission name=\"H1_F1J3_transmission\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <actuator name=\"H1_F1J3\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "    <joint name=\"H1_F1J3\">\n",
    "      <hardwareInterface>EffortJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "  </transmission>\n",
    "  <!-- finger tip -->\n",
    "  <link name=\"H1_F1_tip\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.000925580990320645 -0.00495543398528436 0.0355865585792753\"/>\n",
    "      <mass value=\"0.00906322686585137\"/>\n",
    "      <inertia ixx=\"1.10049088227995E-06\" ixy=\"-3.7290982171096E-09\" ixz=\"-9.54389365908683E-09\" iyy=\"1.36130530510584E-06\" iyz=\"6.66133713720777E-08\" izz=\"6.42259773618367E-07\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/omd-d18-tip.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/omd-d18-tip.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <link name=\"H1_F1_optoforce\"/>\n",
    "  <joint name=\"H1_F1_tip_to_optoforce\" type=\"fixed\">\n",
    "    <parent link=\"H1_F1_tip\"/>\n",
    "    <child link=\"H1_F1_optoforce\"/>\n",
    "    <origin rpy=\"-0.35 0 0\" xyz=\"0 -0.006 0.046\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F1_tip\" type=\"fixed\">\n",
    "    <parent link=\"H1_F1_link_2\"/>\n",
    "    <child link=\"H1_F1_tip\"/>\n",
    "  </joint>\n",
    "  <link name=\"H1_F2_palm_link\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.00681802120880393 -0.00947020456878004 0.067587996682422\"/>\n",
    "      <mass value=\"0.0341482312344481\"/>\n",
    "      <inertia ixx=\"2.79747833772125E-05\" ixy=\"-5.50900644725373E-08\" ixz=\"-2.82072424927723E-07\" iyy=\"2.67800858812928E-05\" iyz=\"3.1953125069394E-06\" izz=\"9.86122271726361E-06\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_palm_link.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <!-- Collision mesh no needed as it is part of palm_link_simple.dae collision mesh -->\n",
    "    <!--xacro:mesh_collision file_name=\"v2/finger_palm_link.dae\">\n",
    "        <origin xyz=\"0 0 0\" rpy=\"0 0 0\" />\n",
    "        <xacro:light_grey/>\n",
    "      </xacro:mesh_collision-->\n",
    "  </link>\n",
    "  <link name=\"H1_F2_base_link\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.000142856770000038 0.0265691681336443 0.0538751581621436\"/>\n",
    "      <mass value=\"0.174652229503358\"/>\n",
    "      <inertia ixx=\"0.000298372741514267\" ixy=\"-5.05751882577435E-07\" ixz=\"1.94982779411417E-07\" iyy=\"0.000299629589232877\" iyz=\"2.79565205733806E-05\" izz=\"0.000134889645145365\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_base_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_base_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <link name=\"H1_F2_link_1\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.000141876508729455 -0.00135409566494088 0.0277606215980989\"/>\n",
    "      <mass value=\"0.0827759744227546\"/>\n",
    "      <inertia ixx=\"4.61070151157777E-05\" ixy=\"7.47741111557837E-08\" ixz=\"-2.25165057702697E-07\" iyy=\"5.27678327317508E-05\" iyz=\"-3.64603343546298E-07\" izz=\"2.89599551320955E-05\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_prox_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_prox_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <link name=\"H1_F2_link_2\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.000506812071918918 -0.00091292934992606 0.0156620851768385\"/>\n",
    "      <mass value=\"0.0270049614151599\"/>\n",
    "      <inertia ixx=\"1.06942730265546E-05\" ixy=\"-7.1810089794211E-09\" ixz=\"-3.49957211410822E-07\" iyy=\"1.05772889540593E-05\" iyz=\"-8.38595987731518E-07\" izz=\"3.27173446995846E-06\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_dist_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_dist_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <joint name=\"H1_F2Palm\" type=\"fixed\">\n",
    "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "    <parent link=\"H1_insert_F2\"/>\n",
    "    <child link=\"H1_F2_palm_link\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F2J1\" type=\"revolute\">\n",
    "    <origin rpy=\"-8.8818E-16 -1.0061E-16 0.022402\" xyz=\"0 0 0.00016528\"/>\n",
    "    <axis xyz=\"0 0 1\"/>\n",
    "    <parent link=\"H1_F2_palm_link\"/>\n",
    "    <child link=\"H1_F2_base_link\"/>\n",
    "    <limit effort=\"30\" lower=\"-0.785398163397\" upper=\"0.785398163397\" velocity=\"1.0\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F2J2\" type=\"revolute\">\n",
    "    <origin rpy=\"0.070695 6.9389E-16 2.0947E-16\" xyz=\"0 0.035 0.11683\"/>\n",
    "    <axis xyz=\"1 0 0\"/>\n",
    "    <parent link=\"H1_F2_base_link\"/>\n",
    "    <child link=\"H1_F2_link_1\"/>\n",
    "    <limit effort=\"30\" lower=\"-1.3962634016\" upper=\"1.0471975512\" velocity=\"1.0\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F2J3\" type=\"revolute\">\n",
    "    <origin rpy=\"-0.0068649 1.7347E-18 1.6176E-16\" xyz=\"0 0 0.06\"/>\n",
    "    <axis xyz=\"1 0 0\"/>\n",
    "    <parent link=\"H1_F2_link_1\"/>\n",
    "    <child link=\"H1_F2_link_2\"/>\n",
    "    <limit effort=\"30\" lower=\"-1.0471975512\" upper=\"1.57079632679\" velocity=\"1.0\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <transmission name=\"H1_F2J1_transmission\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <actuator name=\"H1_F2J1\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "    <joint name=\"H1_F2J1\">\n",
    "      <hardwareInterface>EffortJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "  </transmission>\n",
    "  <transmission name=\"H1_F2J2_transmission\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <actuator name=\"H1_F2J2\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "    <joint name=\"H1_F2J2\">\n",
    "      <hardwareInterface>EffortJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "  </transmission>\n",
    "  <transmission name=\"H1_F2J3_transmission\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <actuator name=\"H1_F2J3\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "    <joint name=\"H1_F2J3\">\n",
    "      <hardwareInterface>EffortJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "  </transmission>\n",
    "  <!-- finger tip -->\n",
    "  <link name=\"H1_F2_tip\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.000925580990320645 -0.00495543398528436 0.0355865585792753\"/>\n",
    "      <mass value=\"0.00906322686585137\"/>\n",
    "      <inertia ixx=\"1.10049088227995E-06\" ixy=\"-3.7290982171096E-09\" ixz=\"-9.54389365908683E-09\" iyy=\"1.36130530510584E-06\" iyz=\"6.66133713720777E-08\" izz=\"6.42259773618367E-07\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/omd-d18-tip.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/omd-d18-tip.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <link name=\"H1_F2_optoforce\"/>\n",
    "  <joint name=\"H1_F2_tip_to_optoforce\" type=\"fixed\">\n",
    "    <parent link=\"H1_F2_tip\"/>\n",
    "    <child link=\"H1_F2_optoforce\"/>\n",
    "    <origin rpy=\"-0.35 0 0\" xyz=\"0 -0.006 0.046\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F2_tip\" type=\"fixed\">\n",
    "    <parent link=\"H1_F2_link_2\"/>\n",
    "    <child link=\"H1_F2_tip\"/>\n",
    "  </joint>\n",
    "  <link name=\"H1_F3_palm_link\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.00681802120880393 -0.00947020456878004 0.067587996682422\"/>\n",
    "      <mass value=\"0.0341482312344481\"/>\n",
    "      <inertia ixx=\"2.79747833772125E-05\" ixy=\"-5.50900644725373E-08\" ixz=\"-2.82072424927723E-07\" iyy=\"2.67800858812928E-05\" iyz=\"3.1953125069394E-06\" izz=\"9.86122271726361E-06\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_palm_link.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <!-- Collision mesh no needed as it is part of palm_link_simple.dae collision mesh -->\n",
    "    <!--xacro:mesh_collision file_name=\"v2/finger_palm_link.dae\">\n",
    "        <origin xyz=\"0 0 0\" rpy=\"0 0 0\" />\n",
    "        <xacro:light_grey/>\n",
    "      </xacro:mesh_collision-->\n",
    "  </link>\n",
    "  <link name=\"H1_F3_base_link\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.000142856770000038 0.0265691681336443 0.0538751581621436\"/>\n",
    "      <mass value=\"0.174652229503358\"/>\n",
    "      <inertia ixx=\"0.000298372741514267\" ixy=\"-5.05751882577435E-07\" ixz=\"1.94982779411417E-07\" iyy=\"0.000299629589232877\" iyz=\"2.79565205733806E-05\" izz=\"0.000134889645145365\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_base_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_base_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <link name=\"H1_F3_link_1\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.000141876508729455 -0.00135409566494088 0.0277606215980989\"/>\n",
    "      <mass value=\"0.0827759744227546\"/>\n",
    "      <inertia ixx=\"4.61070151157777E-05\" ixy=\"7.47741111557837E-08\" ixz=\"-2.25165057702697E-07\" iyy=\"5.27678327317508E-05\" iyz=\"-3.64603343546298E-07\" izz=\"2.89599551320955E-05\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_prox_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_prox_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <link name=\"H1_F3_link_2\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0.000506812071918918 -0.00091292934992606 0.0156620851768385\"/>\n",
    "      <mass value=\"0.0270049614151599\"/>\n",
    "      <inertia ixx=\"1.06942730265546E-05\" ixy=\"-7.1810089794211E-09\" ixz=\"-3.49957211410822E-07\" iyy=\"1.05772889540593E-05\" iyz=\"-8.38595987731518E-07\" izz=\"3.27173446995846E-06\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_dist_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/v2/finger_dist_link_simple.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <joint name=\"H1_F3Palm\" type=\"fixed\">\n",
    "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "    <parent link=\"H1_insert_F3\"/>\n",
    "    <child link=\"H1_F3_palm_link\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F3J1\" type=\"revolute\">\n",
    "    <origin rpy=\"-8.8818E-16 -1.0061E-16 0.022402\" xyz=\"0 0 0.00016528\"/>\n",
    "    <axis xyz=\"0 0 1\"/>\n",
    "    <parent link=\"H1_F3_palm_link\"/>\n",
    "    <child link=\"H1_F3_base_link\"/>\n",
    "    <limit effort=\"30\" lower=\"-0.785398163397\" upper=\"0.785398163397\" velocity=\"1.0\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F3J2\" type=\"revolute\">\n",
    "    <origin rpy=\"0.070695 6.9389E-16 2.0947E-16\" xyz=\"0 0.035 0.11683\"/>\n",
    "    <axis xyz=\"1 0 0\"/>\n",
    "    <parent link=\"H1_F3_base_link\"/>\n",
    "    <child link=\"H1_F3_link_1\"/>\n",
    "    <limit effort=\"30\" lower=\"-1.3962634016\" upper=\"1.0471975512\" velocity=\"1.0\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F3J3\" type=\"revolute\">\n",
    "    <origin rpy=\"-0.0068649 1.7347E-18 1.6176E-16\" xyz=\"0 0 0.06\"/>\n",
    "    <axis xyz=\"1 0 0\"/>\n",
    "    <parent link=\"H1_F3_link_1\"/>\n",
    "    <child link=\"H1_F3_link_2\"/>\n",
    "    <limit effort=\"30\" lower=\"-1.0471975512\" upper=\"1.57079632679\" velocity=\"1.0\"/>\n",
    "    <dynamics damping=\"0.0\" friction=\"0.0\"/>\n",
    "  </joint>\n",
    "  <transmission name=\"H1_F3J1_transmission\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <actuator name=\"H1_F3J1\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "    <joint name=\"H1_F3J1\">\n",
    "      <hardwareInterface>EffortJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "  </transmission>\n",
    "  <transmission name=\"H1_F3J2_transmission\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <actuator name=\"H1_F3J2\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "    <joint name=\"H1_F3J2\">\n",
    "      <hardwareInterface>EffortJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "  </transmission>\n",
    "  <transmission name=\"H1_F3J3_transmission\">\n",
    "    <type>transmission_interface/SimpleTransmission</type>\n",
    "    <actuator name=\"H1_F3J3\">\n",
    "      <mechanicalReduction>1</mechanicalReduction>\n",
    "    </actuator>\n",
    "    <joint name=\"H1_F3J3\">\n",
    "      <hardwareInterface>EffortJointInterface</hardwareInterface>\n",
    "    </joint>\n",
    "  </transmission>\n",
    "  <!-- finger tip -->\n",
    "  <link name=\"H1_F3_tip\">\n",
    "    <inertial>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"-0.000925580990320645 -0.00495543398528436 0.0355865585792753\"/>\n",
    "      <mass value=\"0.00906322686585137\"/>\n",
    "      <inertia ixx=\"1.10049088227995E-06\" ixy=\"-3.7290982171096E-09\" ixz=\"-9.54389365908683E-09\" iyy=\"1.36130530510584E-06\" iyz=\"6.66133713720777E-08\" izz=\"6.42259773618367E-07\"/>\n",
    "    </inertial>\n",
    "    <visual>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/omd-d18-tip.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </visual>\n",
    "    <collision>\n",
    "      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n",
    "      <geometry>\n",
    "        <mesh filename=\"package://fh_desc/meshes/omd-d18-tip.dae\"/>\n",
    "      </geometry>\n",
    "      <material name=\"light_grey\">\n",
    "        <color rgba=\"0.75 0.75 0.75 1.0\"/>\n",
    "      </material>\n",
    "    </collision>\n",
    "  </link>\n",
    "  <link name=\"H1_F3_optoforce\"/>\n",
    "  <joint name=\"H1_F3_tip_to_optoforce\" type=\"fixed\">\n",
    "    <parent link=\"H1_F3_tip\"/>\n",
    "    <child link=\"H1_F3_optoforce\"/>\n",
    "    <origin rpy=\"-0.35 0 0\" xyz=\"0 -0.006 0.046\"/>\n",
    "  </joint>\n",
    "  <joint name=\"H1_F3_tip\" type=\"fixed\">\n",
    "    <parent link=\"H1_F3_link_2\"/>\n",
    "    <child link=\"H1_F3_tip\"/>\n",
    "  </joint>\n",
    "  \n",
    "  \n",
    "  <joint name=\"arm_to_hand\" type=\"fixed\">\n",
    "    <parent link=\"ee_link\"/>\n",
    "    <child link=\"H1_base_attach\"/>\n",
    "    <origin rpy=\"1.57079632679 3.14159265359 1.57079632679\" xyz=\"0.012 0.0 0.0\"/>\n",
    "  </joint>\n",
    "  \n",
    "  \n",
    "  <gazebo reference=\"H1_F1J1\">\n",
    "    <implicitSpringDamper>1</implicitSpringDamper>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F1J2\">\n",
    "    <implicitSpringDamper>1</implicitSpringDamper>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F1J3\">\n",
    "    <implicitSpringDamper>1</implicitSpringDamper>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F2J1\">\n",
    "    <implicitSpringDamper>1</implicitSpringDamper>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F2J2\">\n",
    "    <implicitSpringDamper>1</implicitSpringDamper>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F2J3\">\n",
    "    <implicitSpringDamper>1</implicitSpringDamper>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F3J1\">\n",
    "    <implicitSpringDamper>1</implicitSpringDamper>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F3J2\">\n",
    "    <implicitSpringDamper>1</implicitSpringDamper>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F3J3\">\n",
    "    <implicitSpringDamper>1</implicitSpringDamper>\n",
    "  </gazebo>\n",
    "  \n",
    "  <gazebo reference=\"H1_F1_link_1\">  \n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F1_link_2\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo><gazebo reference=\"H1_F1_tip\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  \n",
    "  <gazebo reference=\"H1_F2_link_1\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F2_link_2\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo><gazebo reference=\"H1_F2_tip\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  \n",
    "  <gazebo reference=\"H1_F3_link_1\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F3_link_2\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo><gazebo reference=\"H1_F3_tip\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  \n",
    "  <gazebo reference=\"H1_F1_base_link\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F2_base_link\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F3_base_link\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  \n",
    "  <gazebo reference=\"H1_F1_palm_link\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F2_palm_link\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  <gazebo reference=\"H1_F3_palm_link\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  \n",
    "  <gazebo reference=\"H1_base_link\">\n",
    "    <kp>1000000.0</kp>\n",
    "    <kd>100.0</kd>\n",
    "    <mu1>1.5</mu1>\n",
    "    <mu2>1.5</mu2>\n",
    "    <fdir1>1 0 0</fdir1>\n",
    "    <maxVel>1.0</maxVel>\n",
    "    <minDepth>0.002</minDepth>\n",
    "    \n",
    "    <material>Gazebo/DarkGrey</material>\n",
    "  </gazebo>\n",
    "  \n",
    "</robot>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:#EE9023;color:white;\">End of Exercise 2.2</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "So now we've created a URDF which defines a new scenario, with our Shadow Hand attached to an UR5 robotic arm. But how can we know if we've done this correctly?"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Well then, let's see what can we do in order to visualize our URDF in the following exercise!"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:#EE9023;color:white;\">Exercise 2.3</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "a) Inside the **hand_with_arm** package, create a new directory called <i><b>launch</b></i>. Inside this launch directory, create a new file named <i><b>visualize_robot.launch</b></i>. Copy the following content into this file:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "<launch>\n",
    "  <arg name=\"gui\" default=\"true\"/>\n",
    "  <param name=\"robot_description\" command=\"$(find xacro)/xacro --inorder '$(find hand_with_arm)/urdf/hand_with_arm.urdf'\" />\n",
    "  <node name=\"rviz\" pkg=\"rviz\" type=\"rviz\" if=\"$(arg gui)\"/>\n",
    "</launch>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Here, you are loading your new URDF file to the robot_description parameter, and launching Rviz to visualize it. "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "b) Execute the launch file you've just created."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "Execute in WebShell #1\n",
    "</th>\n",
    "</tr>\n",
    "</table>"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "roslaunch hand_with_arm visualize_robot.launch.launch"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "c) Now, just click on the \"Add\" button, select the RobotModel option, and select \"base_link\" as your Fixed Frame. You will see something like this:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/rviz_urdf.png\" width=\"600\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Lots of errors appear in the RobotModel element, right? That's because we have loaded our URDF file, but we are not publishing the TFs related to each link! Well then, let's try another option to visualize our URDF."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "d) Execute the following command in order to launch the Moveit Setup Assistant."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<table style=\"float:left;background: #407EAF\">\n",
    "<tr>\n",
    "<th>\n",
    "Execute in WebShell #1\n",
    "</th>\n",
    "</tr>\n",
    "</table>"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "roslaunch moveit_setup_assistant setup_assistant.launch"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "A window like this will appear:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/setup_assistant.png\" width=\"600\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Choose the **Create New MoveIt Configuration Package** option, click on the **Browse** button and load your new URDF file."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/moveit_arm1.png\" width=\"600\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Now, if you click on the **Load Files** button, you will be able to visualize your URDF file."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/moveit_arm2.png\" width=\"600\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "If you load the old URDF file, you will something like this:"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<img src=\"img/moveit_hand.png\" width=\"600\" />"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<p style=\"background:#EE9023;color:white;\">End of Exercise 2.3</p>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Great! Now you've already seen how to attach the Shadow Hand to a robotic arm. So, in the next Unit, let's see how we can start planning Motions with the robotic arm using MoveIt!"
   ]
  }
 ],
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