arm_robot_gripper.sdf

<sdf version='1.5'>
  <model name='HoLLiE'>
    <pose>0 0 0 0 0 0</pose>

    <!-- base_link -->
    <link name='base_link'>
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>1000</mass>
        <inertia>
          <ixx>100</ixx>
          <ixy>0</ixy>
          <ixz>1</ixz>
          <iyy>100</iyy>
          <iyz>1</iyz>
          <izz>100</izz>
        </inertia>
      </inertial>
      <collision name='base_link_collision'>
        <pose>0 0 0.5 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_Table_0_0_0_0_0_0_0.000.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_collision_base_link_1'>
        <pose>0 0 0.5 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_Table_0_0_0_0_0_0_0.001.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='base_link_collision_base_link_2'>
        <pose>0 0 0.5 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_Table_0_0_0_0_0_0_0_0_0.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='base_link_visual'>
        <pose>0 0 0.5 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_Table_0_0_0_0_0_0_0_0_0.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <!-- ########### camera ########### -->
    <!-- ########### camera ########### -->
    <!-- ########### camera ########### -->
    <!-- ########### camera ########### -->
    <!-- camera_base -->
    <link name='camera_base_link'>
      <pose>-0.3 -0.4 1 0 0 1.62316</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
    </link>
    <joint name='camera_base_joint' type='revolute'>
      <child>camera_base_link</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- camera_pole -->
    <link name='camera_pole_link'>
      <pose>-0.3 -0.4 1.05 0 0 1.62316</pose>
      <pose>1 0 0.1 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name="collision_camera_pole">
        <geometry>
          <cylinder>
            <radius>0.01</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <max_contacts>10</max_contacts>
        <surface>
          <contact>
            <ode/>
          </contact>
          <bounce/>
          <friction>
            <torsional>
              <ode/>
            </torsional>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name="visual_camera_pole">
        <geometry>
          <cylinder>
            <radius>0.01</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
    </link>
    <joint name='camera_pole_joint' type='revolute'>
      <child>camera_pole_link</child>
      <parent>camera_base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- camera_mount -->
    <link name='camera_mount_link'>
      <pose>-0.3 -0.4 1.075 0 0 1.2</pose>
      <pose>1 0 0.1 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.3</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name="collision_camera_mount">
        <geometry>
          <box>
            <size> 0.02 0.05 0.05 </size>
          </box>
        </geometry>
        <max_contacts>10</max_contacts>
        <surface>
          <contact>
            <ode/>
          </contact>
          <bounce/>
          <friction>
            <torsional>
              <ode/>
            </torsional>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name="visual_camera_mount">
        <geometry>
          <box>
            <size> 0.02 0.05 0.05 </size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
      <sensor type="camera" name="camera">
        <pose>0.01 0 0 0 0 0</pose>
        <update_rate>30.0</update_rate>
        <always_on>1</always_on>
        <visualize>true</visualize>
        <topic>/camera/image_raw</topic>
        <camera name="camera">
          <horizontal_fov>1.570796</horizontal_fov>
          <image>
            <width>320</width>
            <height>240</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <!-- Noise is sampled independently per pixel on each frame.
                 That pixel's noise value is added to each of its color
                 channels, which at that point lie in the range [0,1]. -->
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>30.0</updateRate>
          <cameraName>camera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>camera_mount_link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </link>
    <joint name='camera_mount_joint' type='revolute'>
      <child>camera_mount_link</child>
      <parent>camera_base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- ########### camera end ########### -->
    <!-- ########### camera end ########### -->
    <!-- ########### camera end ########### -->
    <!-- ########### camera end ########### -->

    <!-- arm_0 -->
    <link name='arm_0_joint_link'>
      <pose>0 -0.4 1 0 0 1.62316</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.29364</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
    </link>
    <joint name='arm_0_joint' type='prismatic'>
      <child>arm_0_joint_link</child>
      <parent>base_link</parent>
      <axis>
        <xyz>-0.0523359 0.99863 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- arm_1 -->
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.000'>
      <pose>0 -0.4 1.11 0 0 1.62316</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.29364</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.000_collision'>
        <pose>3.51042e-08 9.9303e-08 1.19209e-06 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.000.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.000_visual'>
        <pose>3.51042e-08 9.9303e-08 1.19209e-06 -2.10125e-07 1.15808e-08 -1.56462e-07</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.000.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='arm_1_joint' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.000</child>
      <parent>arm_0_joint_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower></lower>
          <upper></upper>
          <effort>1000</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- arm_2 -->
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.001'>
      <pose>0 -0.4 1.11 1.5708 0 1.62316</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>1.68311</mass>
        <inertia>
          <ixx>0.03</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.03</iyy>
          <iyz>0</iyz>
          <izz>0.03</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.001_collision'>
        <pose>-2.54185e-08 1.432e-06 -4.74719e-09 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.001.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.001_visual'>
        <pose>-2.54185e-08 1.432e-06 -4.74719e-09 -7.54979e-08 4.84288e-08 5.42987e-08</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.001.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='arm_2_joint' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.001</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.000</parent>
      <axis>
        <xyz>0.99863 0.0523359 -4.37114e-08</xyz>
        <limit>
          <lower>-1.5707963</lower>
          <upper>1.5707963</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- arm_3 -->
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.002'>
      <pose>1.5278e-08 -0.4 1.46 1.5708 6.77236e-15 -1.51844</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>2.1</mass>
        <inertia>
          <ixx>0.03</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.03</iyy>
          <iyz>0</iyz>
          <izz>0.03</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.002_collision'>
        <pose>-1.55538e-07 9.55162e-07 1.14359e-08 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.002.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.002_visual'>
        <pose>-1.55538e-07 9.55162e-07 1.14359e-08 4.37113e-08 4.09782e-07 -1.73467e-07</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.002.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='arm_3_joint' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.002</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.001</parent>
      <axis>
        <xyz>-0.99863 -0.0523361 4.37114e-08</xyz>
        <limit>
          <lower>-2.748893572</lower>
          <upper>2.748893572</upper>
          <effort>1000</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- arm_4 -->
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.003'>
      <pose>1.5278e-08 -0.4 1.46 8.74228e-08 -1.50996e-07 1.62316</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>1.68311</mass>
        <inertia>
          <ixx>0.1</ixx>
          <ixy>0.1</ixy>
          <ixz>0.1</ixz>
          <iyy>0.1</iyy>
          <iyz>0.1</iyz>
          <izz>0.1</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.003_collision'>
        <pose>5.1084e-08 -1.46347e-07 1.74725e-07 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.003.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.003_visual'>
        <pose>5.1084e-08 -1.46347e-07 1.74725e-07 1.54785e-07 3.0945e-09 -2.12342e-07</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.003.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='arm_4_joint' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.003</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.002</parent>
      <axis>
        <xyz>9.52055e-08 -1.46214e-07 1</xyz>
        <limit>
          <lower></lower>
          <upper></upper>
          <effort>1000</effort>
          <velocity>10</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- arm_5 -->
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.004'>
      <pose>-0.00525574 -0.400275 1.765 1.5708 1.50996e-07 -1.51844</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.807</mass>
        <inertia>
          <ixx>0.03</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.03</iyy>
          <iyz>0</iyz>
          <izz>0.03</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.004_collision'>
        <pose>-1.87833e-07 6.52579e-07 -6.23986e-08 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.004.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.004_visual'>
        <pose>-1.87833e-07 6.52579e-07 -6.23986e-08 1.47422e-06 -1.69501e-06 -1.44053e-07</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.004.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='arm_5_joint' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.004</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.003</parent>
      <axis>
        <xyz>-0.99863 -0.0523362 4.37114e-08</xyz>
        <limit>
          <lower>-2.617993878</lower>
          <upper>2.617993878</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- arm_6 -->
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.005'>
      <pose>-0.00525574 -0.400275 1.765 -8.74228e-08 1.50996e-07 -1.51844</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.819</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.005_collision'>
        <pose>-4.52224e-08 3.3062e-07 1.35905e-06 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.005.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.005_visual'>
        <pose>-4.52224e-08 3.3062e-07 1.35905e-06 1.28805e-07 -3.81088e-11 4.54485e-07</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.005.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='arm_6_joint' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.005</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.004</parent>
      <axis>
        <xyz>9.52055e-08 -1.46214e-07 1</xyz>
        <limit>
          <lower></lower>
          <upper></upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- hand_base -->
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.006'>
      <pose>-0.00525573 -0.400276 1.865 -8.74228e-08 1.50996e-07 -1.51844</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.00001</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.006_collision'>
        <pose>-1.68576e-07 9.89996e-07 -0.0319981 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.006.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.006_visual'>
        <pose>-1.68576e-07 9.89996e-07 -0.0319981 -5.19103e-08 -7.89563e-10 2.16067e-07</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.006.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='hand_base_joint' type='prismatic'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.006</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.005</parent>
      <axis>
        <xyz>0.0523362 -0.99863 -1.50996e-07</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <!-- arm_7 -->
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.007'>
      <pose>-0.0183677 -0.400963 1.865 -8.74228e-08 1.50996e-07 -1.51844</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.00001</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.007_collision'>
        <pose>-6.60936e-08 0.0131302 2.0743e-06 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.007.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.007_visual'>
        <pose>-6.60936e-08 0.0131302 2.0743e-06 3.14159 2.29074e-07 -6.18398e-07</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.007.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='hand_f4' type='prismatic'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.007</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.006</parent>
      <axis>
        <xyz>0.0523362 -0.99863 -1.50996e-07</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.008'>
      <pose>0.00874075 -0.416465 1.865 1.56322e-07 0.261799 0.0523602</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.00001</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.008_collision'>
        <pose>2.58908e-07 -7.39136e-07 0.0244181 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.008.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.008_visual'>
        <pose>2.58908e-07 -7.39136e-07 0.0244181 3.14159 2.7736e-06 3.14159</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.008.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='hand_Thumb_Opposition' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.008</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.007</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0.9879</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame></use_parent_model_frame>
      </axis>
    </joint>
    <link name='hand_Thumb_Helper_link'>
      <pose>0.0206198 -0.415843 1.90939 -3.14159 -1.309 0.0523596</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.00001</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
    </link>
    <joint name='hand_Thumb_Helper' type='prismatic'>
      <child>hand_Thumb_Helper_link</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.008</parent>
      <axis>
        <xyz>0.258465 0.0135455 0.965926</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.009'>
      <pose>0.0206198 -0.415843 1.90939 -1.8834 -0.570602 -1.3456</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.00001</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.01</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.009_collision'>
        <pose>1.18185e-06 1.32481e-07 -2.5332e-07 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.009.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.009_visual'>
        <pose>1.18185e-06 1.32481e-07 -2.5332e-07 -3.14159 3.241e-07 1.06171e-06</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.009.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='hand_Thumb_Flexion' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.009</child>
      <parent>hand_Thumb_Helper_link</parent>
      <axis>
        <xyz>0 0 -1</xyz>
        <limit>
          <lower>0</lower>
          <upper>0.9704</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.010'>
      <pose>0.0297339 -0.455628 1.93559 -1.8834 -0.570602 -1.3456</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.00001</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
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          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.010_collision'>
        <pose>-6.49597e-07 -1.02399e-06 4.787e-07 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.010.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.010_visual'>
        <pose>-6.49597e-07 -1.02399e-06 4.787e-07 3.14159 -1.11759e-08 1.9148e-06</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.010.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='hand_j3' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.010</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.009</parent>
      <axis>
        <xyz>0 0 -1</xyz>
        <limit>
          <lower>0.0</lower>
          <upper>0.98506</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.011'>
      <pose>0.0353715 -0.480238 1.95179 -1.8834 -0.570602 -1.3456</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.00001</mass>
        <inertia>
          <ixx>0.01</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
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          <iyz>0</iyz>
          <izz>0.01</izz>
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      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.011_collision'>
        <pose>-7.49715e-08 -2.47732e-07 -7.45058e-08 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.011.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.011_visual'>
        <pose>-7.49715e-08 -2.47732e-07 -7.45058e-08 3.14159 4.84288e-08 1.67266e-06</pose>
        <geometry>
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            <uri>model://arm_robot/meshes/VIS_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.011.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='hand_j4' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.011</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.010</parent>
      <axis>
        <xyz>0 0 -1</xyz>
        <limit>
          <lower>0</lower>
          <upper>1.406</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='hand_f1_link'>
      <pose>-0.0183677 -0.400963 1.865 -8.74228e-08 1.50996e-07 -1.51844</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.00001</mass>
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      </inertial>
    </link>
    <joint name='hand_f1' type='prismatic'>
      <child>hand_f1_link</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.007</parent>
      <axis>
        <xyz>0.0523362 -0.99863 -1.50996e-07</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='hand_f2_link'>
      <pose>-0.0183677 -0.400963 1.865 -8.74228e-08 1.50996e-07 -1.51844</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.00001</mass>
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    </link>
    <joint name='hand_f2' type='prismatic'>
      <child>hand_f2_link</child>
      <parent>hand_f1_link</parent>
      <axis>
        <xyz>0.0523362 -0.99863 -1.50996e-07</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
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        <dynamics>
          <damping>1</damping>
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          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='hand_f3_link'>
      <pose>-0.0183677 -0.400963 1.865 -8.74228e-08 1.50996e-07 -1.51844</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
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    </link>
    <joint name='hand_f3' type='prismatic'>
      <child>hand_f3_link</child>
      <parent>hand_f2_link</parent>
      <axis>
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          <lower>0</lower>
          <upper>0</upper>
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        <dynamics>
          <damping>1</damping>
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          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.012'>
      <pose>-0.0170593 -0.425928 1.975 -1.93916 -1.57079 1.99152</pose>
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      </inertial>
      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.012_collision'>
        <pose>2.83714e-07 -1.80779e-07 0.0132102 0 0 0</pose>
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          </mesh>
        </geometry>
      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.012_visual'>
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    </link>
    <joint name='hand_f7' type='prismatic'>
      <child>hand_f7_link</child>
      <parent>hand_f6_link</parent>
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        <xyz>0.0523362 -0.99863 -1.50996e-07</xyz>
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          <lower>0</lower>
          <upper>0</upper>
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        <dynamics>
          <damping>1</damping>
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        <use_parent_model_frame>1</use_parent_model_frame>
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    </joint>
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      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.021</child>
      <parent>hand_f7_link</parent>
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    <joint name='hand_Pinky' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.022</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.021</parent>
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        <use_parent_model_frame>1</use_parent_model_frame>
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    </joint>
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.023'>
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      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.023_visual'>
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    <joint name='hand_j13' type='revolute'>
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        <use_parent_model_frame>1</use_parent_model_frame>
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    </link>
    <joint name='hand_j17' type='revolute'>
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      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.023</parent>
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          <lower>0</lower>
          <upper>1.3971</upper>
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        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='hand_f8_link'>
      <pose>-0.0193307 -0.382588 1.9025 -8.74228e-08 1.50996e-07 -1.51844</pose>
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        <pose>0 0 0 0 0 0</pose>
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    </link>
    <joint name='hand_f8' type='prismatic'>
      <child>hand_f8_link</child>
      <parent>hand_f6_link</parent>
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        <limit>
          <lower>0</lower>
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        <dynamics>
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        <use_parent_model_frame>1</use_parent_model_frame>
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    </joint>
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      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.025_visual'>
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      </visual>
    </link>
    <joint name='hand_ring_spread' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.025</child>
      <parent>hand_f8_link</parent>
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        <xyz>0.99863 0.0523362 -8.74228e-08</xyz>
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          <lower>0</lower>
          <upper>0.28833</upper>
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        <dynamics>
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          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
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        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.026'>
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      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.026_collision'>
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      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.026_visual'>
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          </mesh>
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      </visual>
    </link>
    <joint name='hand_Ring_Finger' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.026</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.025</parent>
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        <dynamics>
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        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.027'>
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      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.027_collision'>
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      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.027_visual'>
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          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='hand_j12' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.027</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.026</parent>
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          <lower>0</lower>
          <upper>1.334</upper>
          <effort>1000</effort>
          <velocity>1</velocity>
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        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real_lef'>
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      <inertial>
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      <collision name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real_lef_collision'>
        <pose>9.02224e-07 -4.65304e-08 -2.12862e-07 0 0 0</pose>
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            <scale>1 1 1</scale>
            <uri>model://arm_robot/collisions/COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real_lef.dae</uri>
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      </collision>
      <visual name='COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real_lef_visual'>
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          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='hand_j16' type='revolute'>
      <child>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real_lef</child>
      <parent>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.027</parent>
      <axis>
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        <limit>
          <lower>0</lower>
          <upper>1.395</upper>
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          <velocity>1</velocity>
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        <dynamics>
          <damping>1</damping>
          <friction>0</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <static>0</static>
    <plugin name='generic_controller' filename='libgeneric_controller_plugin.so'>
      <controller joint_name='arm_1_joint'>
        <type>position</type>
        <pid>150.0 10.0 50.0</pid>
      </controller>
      <controller joint_name='arm_2_joint'>
        <type>position</type>
        <pid>150.0 10.0 50.0</pid>
      </controller>
      <controller joint_name='arm_3_joint'>
        <type>position</type>
        <pid>150.0 10.0 50.0</pid>
      </controller>
      <controller joint_name='arm_4_joint'>
        <type>position</type>
        <pid>150.0 10.0 50.0</pid>
      </controller>
      <controller joint_name='arm_5_joint'>
        <type>position</type>
        <pid>150.0 10.0 50.0</pid>
      </controller>
      <controller joint_name='arm_6_joint'>
        <type>position</type>
        <pid>150.0 10.0 50.0</pid>
      </controller>
      <controller joint_name='hand_base_joint'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Thumb_Opposition'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Thumb_Helper'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Thumb_Flexion'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_j3'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_j4'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_j5'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_f1'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_f2'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_f3'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_index_spread'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Index_Finger_Proximal'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Index_Finger_Distal'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_j14'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Middle_Finger_Proximal'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Middle_Finger_Distal'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_j15'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Finger_Spread'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Pinky'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_j13'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_j17'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_ring_spread'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_Ring_Finger'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_j12'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
      <controller joint_name='hand_j16'>
        <type>position</type>
        <pid>100.0 0.1 0.1</pid>
      </controller>
    </plugin>
    <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
        <arm>
           <arm_name>robot</arm_name>
           <palm_link>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.007</palm_link>
           <gripper_link>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.011</gripper_link>
           <!--index finger-->
           <gripper_link>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.015</gripper_link>
           <!--middle finger-->
           <gripper_link>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.019</gripper_link>
           <!--pinky finger-->
           <gripper_link>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real.024</gripper_link>
           <!--ring finger-->
           <gripper_link>COL_COL_COL_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_VIS_hollie_real_lef</gripper_link>
        </arm>
       <forces_angle_tolerance>100</forces_angle_tolerance>
       <update_rate>4</update_rate>
       <grip_count_threshold>4</grip_count_threshold>
       <max_grip_count>8</max_grip_count>
       <release_tolerance>0.005</release_tolerance>
       <disable_collisions_on_attach>false</disable_collisions_on_attach>
       <contact_topic>__default_topic__</contact_topic>
    </plugin>
  </model>
</sdf>