add

README.md

@@ -1,3 +1,71 @@
----
-license: mit
----
+# Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic-Guided Grasp Generation
+
+**[Project Page](https://multi-graspllm.github.io/)** | **[arXiv](https://arxiv.org/abs/your-arxiv-id)**
+
+---
+
+## Overview
+
+We introduce **Multi-GraspSet**, the first large-scale multi-hand grasp dataset enriched with automatic contact annotations. Based on this groundbreaking dataset, we propose **Multi-GraspLLM**, a unified framework for language-guided grasp generation. 
+
+Leveraging the power of large language models (LLMs), Multi-GraspLLM is designed to process variable-length sequences, seamlessly generating grasp poses for a wide range of robotic hands under a single, unified architecture.
+
+<figure style="text-align: center;">
+    <img src="./assets/picture/pipline-squeeze_01.png" alt="Structure of Multi-GraspLLM" width="800">
+    <figcaption style="margin-top: 8px; font-size: 14px; color: #666;">Figure: The architecture of Multi-GraspLLM</figcaption>
+</figure>
+
+---
+
+## Updates
+- **2024.12**: Released the Multi-GraspSet dataset, complete with contact annotations.
+
+---
+
+## Installation
+
+Follow these steps to set up the evaluation environment:
+
+1. **Create the Environment**
+    ```bash
+    conda create --name eval python=3.9
+    ```
+
+2. **Install PyTorch and Dependencies**
+    ```bash
+    pip install torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2
+    ```
+    > ⚠️ Ensure the CUDA toolkit version matches your installed PyTorch version.
+
+3. **Install Pytorch Kinematics**
+    ```bash
+    cd ./pytorch_kinematics
+    pip install -e .
+    ```
+
+4. **Install Remaining Requirements**
+    ```bash
+    pip install -r requirements_eval.txt
+    ```
+
+---
+
+## Visualize the Dataset
+
+<!-- 1. **Download the Dataset**
+
+   Download the dataset from [HuggingFace](https://huggingface.co/datasets/LHS-LHS/Multi-GraspSet) and rename it to `data`.
+
+<!-- 2. **Dataset Structure**
+
+   Organize the dataset as follows:
+
+
+    - `Multi-GraspLLM`
+        - `data`
+            - `mid-level-data`
+            - `pc_8192` -->
+
+1. **Run the Visualization Code** -->
+
+    Open and execute the `vis_mid_dataset.ipynb` file to visualize the dataset.

hand_model/allegro_hand_description/README.txt

@@ -0,0 +1,28 @@
+# use "bash build_desc.sh -h" to see these instructions in the terminal
+
+
+      BUILD_DESC.SH
+
+   INSTRUCTIONS FOR USE
+   --------------------
+
+'build_desc.sh' can be called with up to two (2) arguments.
+The first argument is the side of the hand, left or right, and
+the second argument determines the use of a robot tree diagram.
+
+
+Examples:
+
+   $ bash build_desc.sh RIGHT 1
+   Builds the right hand URDF from its xacro file and shows the robot tree diagram when finished.
+
+   $ bash build_desc.sh left
+   Builds the left hand URDF from its xacro file and DOES NOT show the tree diagram.
+
+
+
+Possible variations of the 1st argument are:
+ RIGHT, Right, right, R, r, LEFT, Left, left, L and l.
+
+For the 2nd argument, '1' produces the tree graph.
+Left blank or passed any other value, the graph will not be created

hand_model/allegro_hand_description/allegro_hand_config.rviz

@@ -0,0 +1,290 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 669
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_0.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_1.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_10.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_11.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_11.0_tip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_12.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_13.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_14.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_15.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_15.0_tip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_2.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_3.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_3.0_tip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_4.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_5.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_6.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_7.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_7.0_tip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_8.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_9.0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        /base_link:
+          Value: true
+        /link_0.0:
+          Value: true
+        /link_1.0:
+          Value: true
+        /link_10.0:
+          Value: true
+        /link_11.0:
+          Value: true
+        /link_11.0_tip:
+          Value: true
+        /link_12.0:
+          Value: true
+        /link_13.0:
+          Value: true
+        /link_14.0:
+          Value: true
+        /link_15.0:
+          Value: true
+        /link_15.0_tip:
+          Value: true
+        /link_2.0:
+          Value: true
+        /link_3.0:
+          Value: true
+        /link_3.0_tip:
+          Value: true
+        /link_4.0:
+          Value: true
+        /link_5.0:
+          Value: true
+        /link_6.0:
+          Value: true
+        /link_7.0:
+          Value: true
+        /link_7.0_tip:
+          Value: true
+        /link_8.0:
+          Value: true
+        /link_9.0:
+          Value: true
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: false
+      Show Names: false
+      Tree:
+        /base_link:
+          /link_0.0:
+            /link_1.0:
+              /link_2.0:
+                /link_3.0:
+                  /link_3.0_tip:
+                    {}
+          /link_12.0:
+            /link_13.0:
+              /link_14.0:
+                /link_15.0:
+                  /link_15.0_tip:
+                    {}
+          /link_4.0:
+            /link_5.0:
+              /link_6.0:
+                /link_7.0:
+                  /link_7.0_tip:
+                    {}
+          /link_8.0:
+            /link_9.0:
+              /link_10.0:
+                /link_11.0:
+                  /link_11.0_tip:
+                    {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 200; 200; 200
+    Fixed Frame: /base_link
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 0.506915
+      Focal Point:
+        X: 0.00844363
+        Y: -0.0105403
+        Z: 4.22006e-10
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.520398
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.675398
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 918
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c0000032cfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000032c000000dd00ffffff000000010000010f0000032cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000032c000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002bf00fffffffb0000000800540069006d00650100000000000004500000000000000000000002690000032c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1232
+  X: 74
+  Y: 0

hand_model/allegro_hand_description/allegro_hand_config.vcg

@@ -0,0 +1,129 @@
+Background\ ColorB=0.74902
+Background\ ColorG=0.74902
+Background\ ColorR=0.74902
+Camera\ Config=0.334797 0.385808 0.42726 0.0101457 0.0119454 0.00231246
+Camera\ Type=rviz::OrbitViewController
+Fixed\ Frame=/base_link
+Grid.Alpha=0.5
+Grid.Cell\ Size=0.5
+Grid.ColorB=0.898039
+Grid.ColorG=0.898039
+Grid.ColorR=0.898039
+Grid.Enabled=1
+Grid.Line\ Style=0
+Grid.Line\ Width=0.03
+Grid.Normal\ Cell\ Count=0
+Grid.OffsetX=0
+Grid.OffsetY=0
+Grid.OffsetZ=0
+Grid.Plane=0
+Grid.Plane\ Cell\ Count=10
+Grid.Reference\ Frame=/base_link
+Property\ Grid\ Splitter=658,84
+Property\ Grid\ State=expanded=.Global Options,Grid.Enabled,Robot Model.Enabled,Robot: Robot ModelLinks,Robot: Robot Model Link base_linkEnabled,Robot: Robot Model Link link_12.0Enabled;splitterratio=0.5
+QMainWindow=000000ff00000000fd00000003000000000000011d00000338fc0200000001fb000000100044006900730070006c006100790073010000003400000338000000fa00ffffff000000010000012f00000338fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000034000000d50000006d00fffffffb0000000a00560069006500770073010000010f00000182000000c500fffffffb0000001200530065006c0065006300740069006f006e0100000297000000d50000006d00ffffff00000003000004fe0000003efc0100000001fb0000000800540069006d00650100000000000004fe0000024500ffffff000002a60000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+Robot\ Model.Alpha=1
+Robot\ Model.Collision\ Enabled=0
+Robot\ Model.Enabled=1
+Robot\ Model.Robot\ Description=robot_description
+Robot\ Model.TF\ Prefix=
+Robot\ Model.Update\ Interval=0
+Robot\ Model.Visual\ Enabled=1
+Robot\:\ Robot\ Model\ Link\ base_linkAlpha=1
+Robot\:\ Robot\ Model\ Link\ base_linkEnabled=1
+Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_0.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_0.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_0.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_0.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_1.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_1.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_1.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_1.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_10.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_10.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_10.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_10.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_11.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_11.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_11.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_11.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_11.0_tipAlpha=1
+Robot\:\ Robot\ Model\ Link\ link_11.0_tipEnabled=1
+Robot\:\ Robot\ Model\ Link\ link_11.0_tipShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_11.0_tipShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_12.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_12.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_12.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_12.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_13.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_13.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_13.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_13.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_14.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_14.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_14.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_14.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_15.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_15.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_15.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_15.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_15.0_tipAlpha=1
+Robot\:\ Robot\ Model\ Link\ link_15.0_tipEnabled=1
+Robot\:\ Robot\ Model\ Link\ link_15.0_tipShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_15.0_tipShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_2.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_2.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_2.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_2.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_3.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_3.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_3.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_3.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_3.0_tipAlpha=1
+Robot\:\ Robot\ Model\ Link\ link_3.0_tipEnabled=1
+Robot\:\ Robot\ Model\ Link\ link_3.0_tipShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_3.0_tipShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_4.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_4.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_4.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_4.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_5.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_5.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_5.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_5.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_6.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_6.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_6.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_6.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_7.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_7.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_7.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_7.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_7.0_tipAlpha=1
+Robot\:\ Robot\ Model\ Link\ link_7.0_tipEnabled=1
+Robot\:\ Robot\ Model\ Link\ link_7.0_tipShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_7.0_tipShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_8.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_8.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_8.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_8.0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ link_9.0Alpha=1
+Robot\:\ Robot\ Model\ Link\ link_9.0Enabled=1
+Robot\:\ Robot\ Model\ Link\ link_9.0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ link_9.0Show\ Trail=0
+Target\ Frame=<Fixed Frame>
+Tool\ 2D\ Nav\ GoalTopic=goal
+Tool\ 2D\ Pose\ EstimateTopic=initialpose
+[Display0]
+ClassName=rviz::GridDisplay
+Name=Grid
+[Display1]
+ClassName=rviz::RobotModelDisplay
+Name=Robot Model
+[Window]
+Height=944
+Width=1278
+X=16
+Y=91

hand_model/allegro_hand_description/allegro_hand_description_left.urdf

@@ -0,0 +1,509 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from allegro_hand_description_left.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="allegro_hand_left" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch 
+-->
+  <!-- ======================== BASE PARAMS ========================= -->
+  <!-- ======================== FINGER PARAMS ======================== -->
+  <!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+  <!--0.0435,   0.044981-->
+  <!--0.002298-->
+  <!--0.002298-->
+  <!-- ========================= THUMB PARAMS ========================= -->
+  <!-- ========================= LIMITS ========================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- BASE -->
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/base_link_left.STL"/>
+      </geometry>
+      <!-- LEFT -->
+      <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
+      <!-- RIGHT -->
+      <!--<origin rpy="0 0 0" xyz="0 0 0 "/>-->
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- ============================================================================= -->
+  <!-- FINGERS -->
+  <!-- RIGHT HAND due to which finger is number 0 -->
+  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+  <link name="link_8.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_10.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_11.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_6.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_7.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_2.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <!--
+<xacro:thumb_right
+	finger_num=			"3" 
+	offset_origin_x=	"-0.0182"	
+	offset_origin_y=	"0.019333" 
+	offset_origin_z=	"-0.045987"
+	
+	
+	finger_angle_r=		"0"
+	finger_angle_p=		"-${95*DEG2RAD}"	
+	finger_angle_y=		"-${90*DEG2RAD}"
+/>
+-->
+  <!--
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${100*DEG2RAD}"	
+	finger_angle_y=		"${0*DEG2RAD}"
+	-->
+  <link name="link_12.0">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <!-- <mesh filename="package://allegro_hand_description/meshes/link_12.0_right.STL" /> -->
+        <!-- LEFT -->
+        <mesh filename="package://allegro_hand_description/meshes/link_12.0_left.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+      <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
+      <!-- LEFT -->
+      <origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="+1 0 0"/>
+    <limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_13.0.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <!-- RIGHT -->
+    <!-- <origin xyz="-0.027 0.005 0.0399"/> -->
+    <!-- LEFT -->
+    <origin xyz="-0.027 -0.005 0.0399"/>
+  </joint>
+  <link name="link_14.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_14.0.STL"/>
+      </geometry>
+      <material name="black">
+		  	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_15.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0.STL"/>
+      </geometry>
+      <material name="black">
+    	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0423"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- THUMB MACRO -->
+  <!-- END THUMB MACRO -->
+  <!-- THREE FINGER MACRO -->
+  <!-- [[END]] THREE FINGER MACRO -->
+</robot>

hand_model/allegro_hand_description/allegro_hand_description_left.xacro

@@ -0,0 +1,500 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_left">
+
+<!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch 
+-->
+
+<xacro:property name="DEG2RAD" value="0.01745329251" />
+
+<!-- ======================== BASE PARAMS ========================= -->
+
+<xacro:property name="base_link_z" value="0.095" />
+
+<!-- ======================== FINGER PARAMS ======================== -->
+
+<xacro:property name="links_x" value="0.0196" />
+<xacro:property name="links_y" value="0.0275" />
+
+<xacro:property name="link0_z" value="0.0164" />
+<xacro:property name="link1_z" value="0.0540" />
+<xacro:property name="link2_z" value="0.0384" />
+
+<!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+<xacro:property name="link3_z" value="0.0387" /> 
+<xacro:property name="fingerTip_r" value="0.0120" />
+
+<xacro:property name="offset_origin_x_const" value="0" />
+<xacro:property name="offset_origin_y_const" value="0.0435" /> <!--0.0435,   0.044981--> 
+<xacro:property name="offset_origin_z_const" value="-0.001542" /> <!--0.002298--> 
+<xacro:property name="offset_origin_z_mid_const" value="0.0007" /> <!--0.002298--> 
+
+
+<!-- ========================= THUMB PARAMS ========================= -->
+
+<xacro:property name="link0_t_x" value="0.0358" />
+<xacro:property name="link0_t_y" value="0.0340" />
+<xacro:property name="link0_t_z" value="0.0455" />
+
+<xacro:property name="link1_t_z" value="0.0177" />
+<xacro:property name="link2_t_z" value="0.0514" />
+<xacro:property name="link3_t_z" value="0.0543" />
+
+
+<!-- ========================= LIMITS ========================= -->
+
+<xacro:property name="joint_safety_margin" value="0.1" />
+<xacro:property name="limit_0_up" value="0.57" />
+<xacro:property name="limit_0_low" value="-0.57" />
+<xacro:property name="limit_1_up" value="1.71" />
+<xacro:property name="limit_1_low" value="-0.296" />
+<xacro:property name="limit_2_up" value="1.809" />
+<xacro:property name="limit_2_low" value="-0.274" />
+<xacro:property name="limit_3_up" value="1.718" />
+<xacro:property name="limit_3_low" value=" -0.327" />
+
+<xacro:property name="limit_0_t_up" value="1.496" />
+<xacro:property name="limit_0_t_low" value="0.363" />
+<xacro:property name="limit_1_t_up" value="1.263" />
+<xacro:property name="limit_1_t_low" value="-0.205" />
+<xacro:property name="limit_2_t_up" value="1.744" />
+<xacro:property name="limit_2_t_low" value="-0.289" />
+<xacro:property name="limit_3_t_up" value="1.819" />
+<xacro:property name="limit_3_t_low" value="-0.262" />
+
+<!-- ============================================================================= -->
+<!-- ============================================================================= -->
+<!-- ============================================================================= -->
+
+
+<!-- BASE -->
+<link name="base_link">
+	
+	<visual>
+    	<geometry>
+      		<mesh filename="package://allegro_hand_description/meshes/base_link_left.STL" />
+      	</geometry>
+      
+      	<!-- LEFT -->
+      	<origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/>
+      	<!-- RIGHT -->
+      	<!--<origin rpy="0 0 0" xyz="0 0 0 "/>-->
+      
+      	<material name="black">
+        	<color rgba="0.2 0.2 0.2 1"/>
+      	</material>
+	</visual>
+    
+    <collision>
+	    <origin rpy="0 0 0" xyz="-0.009300 0 -${base_link_z/2}"/>
+    	<geometry>
+        	<box size="0.0408 0.1130 ${base_link_z}"/>
+      	</geometry>
+    </collision>
+   
+  </link>
+
+<!-- ============================================================================= -->
+
+
+<!-- FINGERS -->
+
+<!-- RIGHT HAND due to which finger is number 0 -->
+<!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+<xacro:finger 
+	finger_num=			"2"
+	offset_origin_x=	"${offset_origin_x_const}"	
+	offset_origin_y=	"${offset_origin_y_const}"
+	offset_origin_z=	"${offset_origin_z_const}"
+	finger_angle_r=		"-${5.0*DEG2RAD}"
+/>
+
+<xacro:finger
+	finger_num=			"1" 
+	offset_origin_x=	"${offset_origin_x_const}"	
+	offset_origin_y=	"0" 
+	offset_origin_z=	"${offset_origin_z_mid_const}" 
+	finger_angle_r=		"0.0"
+/>
+
+<xacro:finger 
+	finger_num=			"0" 
+	offset_origin_x=	"${offset_origin_x_const}"	
+	offset_origin_y=	"-${offset_origin_y_const}" 
+	offset_origin_z=	"${offset_origin_z_const}" 
+	finger_angle_r=		"${5.0*DEG2RAD}"
+/>
+
+
+<!-- THUMB -->
+
+<!--
+<xacro:thumb_right
+	finger_num=			"3" 
+	offset_origin_x=	"-0.0182"	
+	offset_origin_y=	"0.019333" 
+	offset_origin_z=	"-0.045987"
+	
+	
+	finger_angle_r=		"0"
+	finger_angle_p=		"-${95*DEG2RAD}"	
+	finger_angle_y=		"-${90*DEG2RAD}"
+/>
+-->
+	
+	
+	<!--
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${100*DEG2RAD}"	
+	finger_angle_y=		"${0*DEG2RAD}"
+	-->
+<xacro:thumb_left 
+	finger_num=			"3" 
+	offset_origin_x=	"-0.0182"	
+	offset_origin_y=	"-0.019333" 
+	offset_origin_z=	"-0.045987" 
+	
+	
+
+	finger_angle_r=		"0"
+	finger_angle_p=		"-${95*DEG2RAD}"	
+	finger_angle_y=		"${90*DEG2RAD}"
+/>
+
+
+
+<!-- ============================================================================= -->
+<!-- ============================================================================= -->
+<!-- ============================================================================= -->
+
+
+<!-- THUMB MACRO -->
+<xacro:macro name="thumb_left" params="finger_num offset_origin_x offset_origin_y offset_origin_z finger_angle_r finger_angle_p finger_angle_y">
+
+<!-- [LINK 12] -->
+	<link name="link_${finger_num*4+0}">	
+	
+    	<visual>
+			<geometry>
+        		<!-- RIGHT -->
+      			<!-- <mesh filename="package://allegro_hand_description/meshes/link_12.0_right.STL" /> -->
+      			<!-- LEFT -->
+      			<mesh filename="package://allegro_hand_description/meshes/link_12.0_left.STL" />
+      		</geometry>
+      		<material name="black">
+        		<color rgba=".2 .2 .2 1"/>
+      		</material>
+      		<origin rpy="${180*DEG2RAD} 0 0" xyz="0 0 0"/>
+    	</visual>   
+    
+    	<collision>
+      		<geometry>
+        		<box size="${link0_t_x} ${link0_t_y} ${link0_t_z}"/>
+      		</geometry>
+      		
+  			<!-- RIGHT -->
+            <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
+     		<!-- LEFT -->
+     		<origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${-.018/2} ${.029/2}"/>
+    	</collision>   
+        
+	</link>
+  
+	<joint name="joint_${finger_num*4+0}" type="revolute">
+	
+    	<axis xyz="+1 0 0"/>
+    	<limit effort="0" velocity="0" lower="${limit_0_t_low-joint_safety_margin}" upper="${limit_0_t_up-joint_safety_margin}" />
+    	<parent link="base_link"/>
+    	<child link="link_${finger_num*4+0}"/>
+    	<origin rpy="${finger_angle_r} ${finger_angle_p} ${finger_angle_y}" xyz="${offset_origin_x} ${offset_origin_y} ${offset_origin_z}"/>
+    	
+	</joint>
+  
+  
+<!-- [LINK 13] -->
+	<link name="link_${finger_num*4+1}">	
+		<visual>
+			<geometry>
+		    	<mesh filename="package://allegro_hand_description/meshes/link_13.0.STL" />
+		  	</geometry>
+		  
+		  	<material name="black">
+		  		<color rgba=".2 .2 .2 1"/>
+		 	</material>
+		</visual>  
+		
+		<collision>
+			<geometry>
+		    	<box size="${links_x} ${links_y} ${link1_t_z}"/>
+		  	</geometry>
+		  	
+		  	<origin rpy="0 0 0" xyz="0 0 ${link1_t_z/2}"/>
+		</collision>    
+	</link>
+  
+  	<joint name="joint_${finger_num*4+1}" type="revolute">
+  	
+    	<axis xyz="0 0 -1"/>
+     	<limit effort="0" velocity="0" lower="${limit_1_t_low+joint_safety_margin}" upper="${limit_1_t_up-joint_safety_margin}" />
+    	<parent link="link_${finger_num*4+0}"/>
+    	<child link="link_${finger_num*4+1}"/>
+		
+		<!-- RIGHT -->    
+    	<!-- <origin xyz="-0.027 0.005 0.0399"/> -->
+    	<!-- LEFT -->
+    	<origin xyz="-0.027 -0.005 0.0399"/>
+
+  	</joint>  
+
+
+<!-- [LINK 14] -->
+  
+	<link name="link_${finger_num*4+2}">	
+		<visual>
+			<geometry>
+		  		<mesh filename="package://allegro_hand_description/meshes/link_14.0.STL" />      
+			</geometry>
+			<material name="black">
+		  	</material>
+		</visual>   
+		
+		<collision>
+			<geometry>
+		    	<box size="${links_x} ${links_y} ${link2_t_z}"/>
+		  	</geometry>
+		  	<origin rpy="0 0 0" xyz="0 0 ${link2_t_z/2}"/>
+		</collision>   
+        
+	</link>
+  
+  <joint name="joint_${finger_num*4+2}" type="revolute">
+  
+		<axis xyz="0 1 0"/>
+		<limit effort="0" velocity="0" lower="${limit_2_t_low+joint_safety_margin}" upper="${limit_2_t_up-joint_safety_margin}" />
+		<parent link="link_${finger_num*4+1}"/>
+		<child link="link_${finger_num*4+2}"/>
+		<origin xyz="0 0 ${link1_t_z}"/>
+		
+  </joint>  
+  
+ 
+<!-- [LINK 15] -->
+  
+	<link name="link_${finger_num*4+3}">	
+    
+    	<visual>
+      		<geometry>
+      				<mesh filename="package://allegro_hand_description/meshes/link_15.0.STL" />            
+        	</geometry>
+      
+    	<material name="black">
+    	</material>
+    	</visual>  
+    
+    	<collision>
+			<geometry>
+		    	<box size="${links_x} ${links_y} ${link3_t_z-fingerTip_r}"/>
+		  	</geometry>
+		  	<origin rpy="0 0 0" xyz="0 0 ${(link3_t_z-fingerTip_r)/2}"/>
+    	</collision>  
+         
+	</link>
+  
+	<joint name="joint_${finger_num*4+3}" type="revolute">
+    	<axis xyz="0 1 0"/>
+     	<limit effort="0" velocity="0" lower="${limit_3_t_low+joint_safety_margin}" upper="${limit_3_t_up-joint_safety_margin}" />
+    	<parent link="link_${finger_num*4+2}"/>
+    	<child link="link_${finger_num*4+3}"/>
+    	<origin xyz="0 0 ${link2_t_z}"/>
+	</joint>      
+    
+<!-- [FINGER TIP] -->
+  
+	<link name="link_${finger_num*4+3}_tip">	
+		<visual>
+			<geometry>
+		  		<mesh filename="package://allegro_hand_description/meshes/link_15.0_tip.STL" /> 
+		  	</geometry>
+		  
+		  	<material name="white">
+		  		<color rgba=".9 .9 .9 1"/>
+		  	</material>
+    	</visual>   
+    
+    	<collision>
+      		<geometry>
+        		<sphere radius="${fingerTip_r}"/>
+      		</geometry>
+      		<origin rpy="0 0 0" xyz="0 0 0"/>
+    	</collision>  
+        
+	</link>
+  
+  	<joint name="joint_${finger_num*4+3}_tip" type="fixed">
+    	<parent link="link_${finger_num*4+3}"/>
+    	<child link="link_${finger_num*4+3}_tip"/>
+    	<origin rpy="0 0 0" xyz="0 0 ${link3_t_z-fingerTip_r}"/> <!--0.0267000000000005-->
+  	</joint>   
+  
+</xacro:macro>
+
+<!-- END THUMB MACRO -->
+
+
+
+
+
+
+
+
+
+
+
+<!-- THREE FINGER MACRO -->
+<xacro:macro name="finger" params="finger_num offset_origin_x offset_origin_y offset_origin_z finger_angle_r">
+
+<!-- [LINK 0, 4, 8] -->
+  
+	<link name="link_${finger_num*4+0}">	
+    	<visual>
+    		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_0.0.STL" />
+      		</geometry>
+      		<material name="black"/>
+    	</visual> 
+    
+    	<collision>
+      		<geometry>
+        		<box size="${links_x} ${links_y} ${link0_z}"/>
+      		</geometry>
+      		<origin rpy="0 0 0" xyz="0 0 ${link0_z/2}"/>
+    	</collision>   
+          
+	</link>
+  
+  	<joint name="joint_${finger_num*4+0}" type="revolute">
+    	<axis xyz="0 0 1"/>
+    	<limit effort="0" velocity="0" lower="${limit_0_low+joint_safety_margin}" upper="${limit_0_up-joint_safety_margin}" />
+    	<parent link="base_link"/>
+    	<child link="link_${finger_num*4+0}"/>
+    	<origin rpy="${finger_angle_r} 0 0" xyz="${offset_origin_x} ${offset_origin_y} ${offset_origin_z}"/>
+  	</joint>
+  
+  
+<!-- [LINK 1, 5, 9] -->
+  
+	<link name="link_${finger_num*4+1}">	
+    	<visual>
+      		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_1.0.STL" />
+      		</geometry>
+      		<material name="black"/>
+    	</visual>   
+    
+    	<collision>
+      		<geometry>
+        		<box size="${links_x} ${links_y} ${link1_z}"/>
+      		</geometry>
+	  		<origin rpy="0 0 0" xyz="0 0 ${link1_z/2}"/>
+    	</collision>  
+        
+  	</link>
+  
+  	<joint name="joint_${finger_num*4+1}" type="revolute">
+  		<limit effort="0" velocity="0" lower="${limit_1_low+joint_safety_margin}" upper="${limit_1_up-joint_safety_margin}" />
+    	<axis xyz="0 1 0"/>
+    	<parent link="link_${finger_num*4+0}"/>
+    	<child link="link_${finger_num*4+1}"/>
+    	<origin xyz="0 0 ${link0_z}"/>
+  	</joint>  
+
+
+<!-- [LINK 2, 6, 10]-->
+  
+	<link name="link_${finger_num*4+2}">	
+    	<visual>
+      		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_2.0.STL" />
+      		</geometry>
+      		<material name="black"/>
+    	</visual>  
+    
+    	<collision>
+      		<geometry>
+        		<box size="${links_x} ${links_y} ${link2_z}"/>
+      		</geometry>
+      		<origin rpy="0 0 0" xyz="0 0 ${link2_z/2}"/>     
+    	</collision>   
+         
+  	</link>
+  
+  	<joint name="joint_${finger_num*4+2}" type="revolute">
+    	<axis xyz="0 1 0"/>
+    	<limit effort="0" velocity="0" lower="${limit_2_low+joint_safety_margin}" upper="${limit_2_up-joint_safety_margin}" />
+    	<parent link="link_${finger_num*4+1}"/>
+    	<child link="link_${finger_num*4+2}"/>
+    	<origin xyz="0 0 ${link1_z}"/>
+  	</joint>  
+  
+ 
+<!-- [LINK 3, 7, 11] -->
+  
+	<link name="link_${finger_num*4+3}">	
+    	<visual>
+      		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_3.0.STL" />
+        	</geometry>
+      		<material name="black"/>
+    	</visual>   
+    
+    	<collision>
+      		<geometry>
+        		<box size="${links_x} ${links_y} ${link3_z-fingerTip_r}"/>
+      		</geometry>
+      		<origin rpy="0 0 0" xyz="0 0 ${(link3_z-fingerTip_r)/2}"/>
+    	</collision>   
+  	</link>
+  		
+  	<joint name="joint_${finger_num*4+3}" type="revolute">
+    	<axis xyz="0 1 0"/>
+    	<limit effort="0" velocity="0" lower="${limit_3_low+joint_safety_margin}" upper="${limit_3_up-joint_safety_margin}" />
+    	<parent link="link_${finger_num*4+2}"/>
+    	<child link="link_${finger_num*4+3}"/>
+    	<origin xyz="0 0 ${link2_z}"/>
+  	</joint>      
+    
+<!-- [FINGER TIP] -->
+  
+	<link name="link_${finger_num*4+3}_tip">	
+   		<visual>
+      		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL" />
+        	</geometry>
+		  	<material name="white">
+        		<color rgba=".9 .9 .9 1"/>
+      		</material>
+    	</visual>  
+    
+     	<collision>
+      		<geometry>
+      			<sphere radius="${fingerTip_r}"/>
+      		</geometry>
+    	</collision>     
+    
+     
+  		</link>
+  	 		<joint name="joint_${finger_num*4+3}_tip" type="fixed">
+    		<parent link="link_${finger_num*4+3}"/>
+    		<child link="link_${finger_num*4+3}_tip"/>
+    		<origin rpy="0 0 0" xyz="0 0 ${link3_z-fingerTip_r}"/>
+  		</joint>   
+  
+</xacro:macro>
+<!-- [[END]] THREE FINGER MACRO -->
+
+    
+</robot>
+

hand_model/allegro_hand_description/allegro_hand_description_right.urdf

@@ -0,0 +1,503 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from allegro_hand_description_right.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="allegro_hand_right" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch 
+-->
+  <!-- ======================== BASE PARAMS ========================= -->
+  <!-- ======================== FINGER PARAMS ======================== -->
+  <!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+  <!--0.0435,   0.044981-->
+  <!--0.002298-->
+  <!--0.002298-->
+  <!-- ========================= THUMB PARAMS ========================= -->
+  <!-- ========================= LIMITS ========================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- BASE -->
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/base_link.STL"/>
+      </geometry>
+      <!-- LEFT -->
+      <!-- <origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/> -->
+      <!-- RIGHT -->
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- ============================================================================= -->
+  <!-- FINGERS -->
+  <!-- RIGHT HAND due to which finger is number 0 -->
+  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+  <link name="link_0.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_0.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_0.0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_1.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0.0"/>
+    <child link="link_1.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_2.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_2.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_1.0"/>
+    <child link="link_2.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_3.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_3.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_2.0"/>
+    <child link="link_3.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_3.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3.0_tip" type="fixed">
+    <parent link="link_3.0"/>
+    <child link="link_3.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_4.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_4.0"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_5.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4.0"/>
+    <child link="link_5.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_6.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_6.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_5.0"/>
+    <child link="link_6.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_7.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_7.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_6.0"/>
+    <child link="link_7.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_7.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_7.0_tip" type="fixed">
+    <parent link="link_7.0"/>
+    <child link="link_7.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_8.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+  </link>
+  <joint name="joint_8.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_8.0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+  </link>
+  <joint name="joint_9.0" type="revolute">
+    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8.0"/>
+    <child link="link_9.0"/>
+    <origin xyz="0 0 0.0164"/>
+  </joint>
+  <link name="link_10.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+  </link>
+  <joint name="joint_10.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+    <parent link="link_9.0"/>
+    <child link="link_10.0"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_11.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+  </link>
+  <joint name="joint_11.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+    <parent link="link_10.0"/>
+    <child link="link_11.0"/>
+    <origin xyz="0 0 0.0384"/>
+  </joint>
+  <link name="link_11.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_11.0_tip" type="fixed">
+    <parent link="link_11.0"/>
+    <child link="link_11.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12.0">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <mesh filename="package://allegro_hand_description/meshes/link_12.0_right.STL"/>
+        <!-- LEFT -->
+        <!-- <mesh filename="package://allegro_hand_description/meshes/link_12.0_left.STL" /> -->
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+      <!-- LEFT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${-.018/2} ${.029/2}"/> -->
+    </collision>
+  </link>
+  <joint name="joint_12.0" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
+    <parent link="base_link"/>
+    <child link="link_12.0"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+  </joint>
+  <link name="link_13.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_13.0.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+  </link>
+  <joint name="joint_13.0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
+    <parent link="link_12.0"/>
+    <child link="link_13.0"/>
+    <!-- RIGHT -->
+    <origin xyz="-0.027 0.005 0.0399"/>
+    <!-- LEFT -->
+    <!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
+  </joint>
+  <link name="link_14.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_14.0.STL"/>
+      </geometry>
+      <material name="black">
+		  	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="joint_14.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
+    <parent link="link_13.0"/>
+    <child link="link_14.0"/>
+    <origin xyz="0 0 0.0177"/>
+  </joint>
+  <link name="link_15.0">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0.STL"/>
+      </geometry>
+      <material name="black">
+    	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0423"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
+    <parent link="link_14.0"/>
+    <child link="link_15.0"/>
+    <origin xyz="0 0 0.0514"/>
+  </joint>
+  <link name="link_15.0_tip">
+    <visual>
+      <geometry>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="joint_15.0_tip" type="fixed">
+    <parent link="link_15.0"/>
+    <child link="link_15.0_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+  <!--
+<xacro:thumb_left 
+	finger_num=			"3" 
+	offset_origin_x=	"-0.0182"	
+	offset_origin_y=	"-0.019333" 
+	offset_origin_z=	"-0.045987" 
+	
+	
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${95*DEG2RAD}"	
+	finger_angle_y=		"${90*DEG2RAD}"
+/>
+-->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- THUMB MACRO -->
+  <!-- END THUMB MACRO -->
+  <!-- THREE FINGER MACRO -->
+  <!-- [[END]] THREE FINGER MACRO -->
+</robot>

hand_model/allegro_hand_description/allegro_hand_description_right.xacro

@@ -0,0 +1,491 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_right">
+
+<!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch 
+-->
+
+<xacro:property name="DEG2RAD" value="0.01745329251" />
+
+<!-- ======================== BASE PARAMS ========================= -->
+
+<xacro:property name="base_link_z" value="0.095" />
+
+<!-- ======================== FINGER PARAMS ======================== -->
+
+<xacro:property name="links_x" value="0.0196" />
+<xacro:property name="links_y" value="0.0275" />
+
+<xacro:property name="link0_z" value="0.0164" />
+<xacro:property name="link1_z" value="0.0540" />
+<xacro:property name="link2_z" value="0.0384" />
+
+<!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+<xacro:property name="link3_z" value="0.0387" /> 
+<xacro:property name="fingerTip_r" value="0.0120" />
+
+<xacro:property name="offset_origin_x_const" value="0" />
+<xacro:property name="offset_origin_y_const" value="0.0435" /> <!--0.0435,   0.044981--> 
+<xacro:property name="offset_origin_z_const" value="-0.001542" /> <!--0.002298--> 
+<xacro:property name="offset_origin_z_mid_const" value="0.0007" /> <!--0.002298--> 
+
+
+<!-- ========================= THUMB PARAMS ========================= -->
+
+<xacro:property name="link0_t_x" value="0.0358" />
+<xacro:property name="link0_t_y" value="0.0340" />
+<xacro:property name="link0_t_z" value="0.0455" />
+
+<xacro:property name="link1_t_z" value="0.0177" />
+<xacro:property name="link2_t_z" value="0.0514" />
+<xacro:property name="link3_t_z" value="0.0543" />
+
+
+<!-- ========================= LIMITS ========================= -->
+
+<xacro:property name="joint_safety_margin" value="0.1" />
+<xacro:property name="limit_0_up" value="0.57" />
+<xacro:property name="limit_0_low" value="-0.57" />
+<xacro:property name="limit_1_up" value="1.71" />
+<xacro:property name="limit_1_low" value="-0.296" />
+<xacro:property name="limit_2_up" value="1.809" />
+<xacro:property name="limit_2_low" value="-0.274" />
+<xacro:property name="limit_3_up" value="1.718" />
+<xacro:property name="limit_3_low" value=" -0.327" />
+
+<xacro:property name="limit_0_t_up" value="1.496" />
+<xacro:property name="limit_0_t_low" value="0.363" />
+<xacro:property name="limit_1_t_up" value="1.263" />
+<xacro:property name="limit_1_t_low" value="-0.205" />
+<xacro:property name="limit_2_t_up" value="1.744" />
+<xacro:property name="limit_2_t_low" value="-0.289" />
+<xacro:property name="limit_3_t_up" value="1.819" />
+<xacro:property name="limit_3_t_low" value="-0.262" />
+
+<!-- ============================================================================= -->
+<!-- ============================================================================= -->
+<!-- ============================================================================= -->
+
+
+<!-- BASE -->
+<link name="base_link">
+	
+	<visual>
+    	<geometry>
+      		<mesh filename="package://allegro_hand_description/meshes/base_link.STL" />
+      	</geometry>
+      
+      	<!-- LEFT -->
+      	<!-- <origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/> -->
+      	<!-- RIGHT -->
+      	<origin rpy="0 0 0" xyz="0 0 0 "/>
+      
+      	<material name="black">
+        	<color rgba="0.2 0.2 0.2 1"/>
+      	</material>
+	</visual>
+    
+    <collision>
+	    <origin rpy="0 0 0" xyz="-0.009300 0 -${base_link_z/2}"/>
+    	<geometry>
+        	<box size="0.0408 0.1130 ${base_link_z}"/>
+      	</geometry>
+    </collision>
+   
+  </link>
+
+<!-- ============================================================================= -->
+
+
+<!-- FINGERS -->
+
+<!-- RIGHT HAND due to which finger is number 0 -->
+<!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+<xacro:finger 
+	finger_num=			"0"
+	offset_origin_x=	"${offset_origin_x_const}"	
+	offset_origin_y=	"${offset_origin_y_const}"
+	offset_origin_z=	"${offset_origin_z_const}"
+	finger_angle_r=		"-${5.0*DEG2RAD}"
+/>
+
+<xacro:finger
+	finger_num=			"1" 
+	offset_origin_x=	"${offset_origin_x_const}"	
+	offset_origin_y=	"0" 
+	offset_origin_z=	"${offset_origin_z_mid_const}" 
+	finger_angle_r=		"0.0"
+/>
+
+<xacro:finger 
+	finger_num=			"2" 
+	offset_origin_x=	"${offset_origin_x_const}"	
+	offset_origin_y=	"-${offset_origin_y_const}" 
+	offset_origin_z=	"${offset_origin_z_const}" 
+	finger_angle_r=		"${5.0*DEG2RAD}"
+/>
+
+
+<!-- THUMB -->
+
+<xacro:thumb_right
+	finger_num=			"3" 
+	offset_origin_x=	"-0.0182"	
+	offset_origin_y=	"0.019333" 
+	offset_origin_z=	"-0.045987"
+	
+	
+	finger_angle_r=		"0"
+	finger_angle_p=		"-${95*DEG2RAD}"	
+	finger_angle_y=		"-${90*DEG2RAD}"
+/>
+
+<!--
+<xacro:thumb_left 
+	finger_num=			"3" 
+	offset_origin_x=	"-0.0182"	
+	offset_origin_y=	"-0.019333" 
+	offset_origin_z=	"-0.045987" 
+	
+	
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${95*DEG2RAD}"	
+	finger_angle_y=		"${90*DEG2RAD}"
+/>
+-->
+
+
+<!-- ============================================================================= -->
+<!-- ============================================================================= -->
+<!-- ============================================================================= -->
+
+
+<!-- THUMB MACRO -->
+<xacro:macro name="thumb_right" params="finger_num offset_origin_x offset_origin_y offset_origin_z finger_angle_r finger_angle_p finger_angle_y">
+
+<!-- [LINK 12] -->
+	<link name="link_${finger_num*4+0}">	
+	
+    	<visual>
+			<geometry>
+        		<!-- RIGHT -->
+      			<mesh filename="package://allegro_hand_description/meshes/link_12.0_right.STL" />
+      			<!-- LEFT -->
+      			<!-- <mesh filename="package://allegro_hand_description/meshes/link_12.0_left.STL" /> -->
+      		</geometry>
+      		<material name="black">
+        		<color rgba=".2 .2 .2 1"/>
+      		</material>
+    	</visual>   
+    
+    	<collision>
+      		<geometry>
+        		<box size="${link0_t_x} ${link0_t_y} ${link0_t_z}"/>
+      		</geometry>
+      		
+  			<!-- RIGHT -->
+            <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/>
+     		<!-- LEFT -->
+     		<!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${-.018/2} ${.029/2}"/> -->
+    	</collision>   
+        
+	</link>
+  
+	<joint name="joint_${finger_num*4+0}" type="revolute">
+	
+    	<axis xyz="-1 0 0"/>
+    	<limit effort="0" velocity="0" lower="${limit_0_t_low-joint_safety_margin}" upper="${limit_0_t_up-joint_safety_margin}" />
+    	<parent link="base_link"/>
+    	<child link="link_${finger_num*4+0}"/>
+    	<origin rpy="${finger_angle_r} ${finger_angle_p} ${finger_angle_y}" xyz="${offset_origin_x} ${offset_origin_y} ${offset_origin_z}"/>
+    	
+	</joint>
+  
+  
+<!-- [LINK 13] -->
+	<link name="link_${finger_num*4+1}">	
+		<visual>
+			<geometry>
+		    	<mesh filename="package://allegro_hand_description/meshes/link_13.0.STL" />
+		  	</geometry>
+		  
+		  	<material name="black">
+		  		<color rgba=".2 .2 .2 1"/>
+		 	</material>
+		</visual>  
+		
+		<collision>
+			<geometry>
+		    	<box size="${links_x} ${links_y} ${link1_t_z}"/>
+		  	</geometry>
+		  	
+		  	<origin rpy="0 0 0" xyz="0 0 ${link1_t_z/2}"/>
+		</collision>    
+	</link>
+  
+  	<joint name="joint_${finger_num*4+1}" type="revolute">
+  	
+    	<axis xyz="0 0 1"/>
+     	<limit effort="0" velocity="0" lower="${limit_1_t_low+joint_safety_margin}" upper="${limit_1_t_up-joint_safety_margin}" />
+    	<parent link="link_${finger_num*4+0}"/>
+    	<child link="link_${finger_num*4+1}"/>
+		
+		<!-- RIGHT -->    
+    	<origin xyz="-0.027 0.005 0.0399"/>
+    	<!-- LEFT -->
+    	<!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
+
+  	</joint>  
+
+
+<!-- [LINK 14] -->
+  
+	<link name="link_${finger_num*4+2}">	
+		<visual>
+			<geometry>
+		  		<mesh filename="package://allegro_hand_description/meshes/link_14.0.STL" />      
+			</geometry>
+			<material name="black">
+		  	</material>
+		</visual>   
+		
+		<collision>
+			<geometry>
+		    	<box size="${links_x} ${links_y} ${link2_t_z}"/>
+		  	</geometry>
+		  	<origin rpy="0 0 0" xyz="0 0 ${link2_t_z/2}"/>
+		</collision>   
+        
+	</link>
+  
+  <joint name="joint_${finger_num*4+2}" type="revolute">
+  
+		<axis xyz="0 1 0"/>
+		<limit effort="0" velocity="0" lower="${limit_2_t_low+joint_safety_margin}" upper="${limit_2_t_up-joint_safety_margin}" />
+		<parent link="link_${finger_num*4+1}"/>
+		<child link="link_${finger_num*4+2}"/>
+		<origin xyz="0 0 ${link1_t_z}"/>
+		
+  </joint>  
+  
+ 
+<!-- [LINK 15] -->
+  
+	<link name="link_${finger_num*4+3}">	
+    
+    	<visual>
+      		<geometry>
+      				<mesh filename="package://allegro_hand_description/meshes/link_15.0.STL" />            
+        	</geometry>
+      
+    	<material name="black">
+    	</material>
+    	</visual>  
+    
+    	<collision>
+			<geometry>
+		    	<box size="${links_x} ${links_y} ${link3_t_z-fingerTip_r}"/>
+		  	</geometry>
+		  	<origin rpy="0 0 0" xyz="0 0 ${(link3_t_z-fingerTip_r)/2}"/>
+    	</collision>  
+         
+	</link>
+  
+	<joint name="joint_${finger_num*4+3}" type="revolute">
+    	<axis xyz="0 1 0"/>
+     	<limit effort="0" velocity="0" lower="${limit_3_t_low+joint_safety_margin}" upper="${limit_3_t_up-joint_safety_margin}" />
+    	<parent link="link_${finger_num*4+2}"/>
+    	<child link="link_${finger_num*4+3}"/>
+    	<origin xyz="0 0 ${link2_t_z}"/>
+	</joint>      
+    
+<!-- [FINGER TIP] -->
+  
+	<link name="link_${finger_num*4+3}_tip">	
+		<visual>
+			<geometry>
+		  		<mesh filename="package://allegro_hand_description/meshes/link_15.0_tip.STL" /> 
+		  	</geometry>
+		  
+		  	<material name="white">
+		  		<color rgba=".9 .9 .9 1"/>
+		  	</material>
+    	</visual>   
+    
+    	<collision>
+      		<geometry>
+        		<sphere radius="${fingerTip_r}"/>
+      		</geometry>
+      		<origin rpy="0 0 0" xyz="0 0 0"/>
+    	</collision>  
+        
+	</link>
+  
+  	<joint name="joint_${finger_num*4+3}_tip" type="fixed">
+    	<parent link="link_${finger_num*4+3}"/>
+    	<child link="link_${finger_num*4+3}_tip"/>
+    	<origin rpy="0 0 0" xyz="0 0 ${link3_t_z-fingerTip_r}"/> <!--0.0267000000000005-->
+  	</joint>   
+  
+</xacro:macro>
+
+<!-- END THUMB MACRO -->
+
+
+
+
+
+
+
+
+
+
+
+<!-- THREE FINGER MACRO -->
+<xacro:macro name="finger" params="finger_num offset_origin_x offset_origin_y offset_origin_z finger_angle_r">
+
+<!-- [LINK 0, 4, 8] -->
+  
+	<link name="link_${finger_num*4+0}">	
+    	<visual>
+    		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_0.0.STL" />
+      		</geometry>
+      		<material name="black"/>
+    	</visual> 
+    
+    	<collision>
+      		<geometry>
+        		<box size="${links_x} ${links_y} ${link0_z}"/>
+      		</geometry>
+      		<origin rpy="0 0 0" xyz="0 0 ${link0_z/2}"/>
+    	</collision>   
+          
+	</link>
+  
+  	<joint name="joint_${finger_num*4+0}" type="revolute">
+    	<axis xyz="0 0 1"/>
+    	<limit effort="0" velocity="0" lower="${limit_0_low+joint_safety_margin}" upper="${limit_0_up-joint_safety_margin}" />
+    	<parent link="base_link"/>
+    	<child link="link_${finger_num*4+0}"/>
+    	<origin rpy="${finger_angle_r} 0 0" xyz="${offset_origin_x} ${offset_origin_y} ${offset_origin_z}"/>
+  	</joint>
+  
+  
+<!-- [LINK 1, 5, 9] -->
+  
+	<link name="link_${finger_num*4+1}">	
+    	<visual>
+      		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_1.0.STL" />
+      		</geometry>
+      		<material name="black"/>
+    	</visual>   
+    
+    	<collision>
+      		<geometry>
+        		<box size="${links_x} ${links_y} ${link1_z}"/>
+      		</geometry>
+	  		<origin rpy="0 0 0" xyz="0 0 ${link1_z/2}"/>
+    	</collision>  
+        
+  	</link>
+  
+  	<joint name="joint_${finger_num*4+1}" type="revolute">
+  		<limit effort="0" velocity="0" lower="${limit_1_low+joint_safety_margin}" upper="${limit_1_up-joint_safety_margin}" />
+    	<axis xyz="0 1 0"/>
+    	<parent link="link_${finger_num*4+0}"/>
+    	<child link="link_${finger_num*4+1}"/>
+    	<origin xyz="0 0 ${link0_z}"/>
+  	</joint>  
+
+
+<!-- [LINK 2, 6, 10]-->
+  
+	<link name="link_${finger_num*4+2}">	
+    	<visual>
+      		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_2.0.STL" />
+      		</geometry>
+      		<material name="black"/>
+    	</visual>  
+    
+    	<collision>
+      		<geometry>
+        		<box size="${links_x} ${links_y} ${link2_z}"/>
+      		</geometry>
+      		<origin rpy="0 0 0" xyz="0 0 ${link2_z/2}"/>     
+    	</collision>   
+         
+  	</link>
+  
+  	<joint name="joint_${finger_num*4+2}" type="revolute">
+    	<axis xyz="0 1 0"/>
+    	<limit effort="0" velocity="0" lower="${limit_2_low+joint_safety_margin}" upper="${limit_2_up-joint_safety_margin}" />
+    	<parent link="link_${finger_num*4+1}"/>
+    	<child link="link_${finger_num*4+2}"/>
+    	<origin xyz="0 0 ${link1_z}"/>
+  	</joint>  
+  
+ 
+<!-- [LINK 3, 7, 11] -->
+  
+	<link name="link_${finger_num*4+3}">	
+    	<visual>
+      		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_3.0.STL" />
+        	</geometry>
+      		<material name="black"/>
+    	</visual>   
+    
+    	<collision>
+      		<geometry>
+        		<box size="${links_x} ${links_y} ${link3_z-fingerTip_r}"/>
+      		</geometry>
+      		<origin rpy="0 0 0" xyz="0 0 ${(link3_z-fingerTip_r)/2}"/>
+    	</collision>   
+  	</link>
+  		
+  	<joint name="joint_${finger_num*4+3}" type="revolute">
+    	<axis xyz="0 1 0"/>
+    	<limit effort="0" velocity="0" lower="${limit_3_low+joint_safety_margin}" upper="${limit_3_up-joint_safety_margin}" />
+    	<parent link="link_${finger_num*4+2}"/>
+    	<child link="link_${finger_num*4+3}"/>
+    	<origin xyz="0 0 ${link2_z}"/>
+  	</joint>      
+    
+<!-- [FINGER TIP] -->
+  
+	<link name="link_${finger_num*4+3}_tip">	
+   		<visual>
+      		<geometry>
+      			<mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL" />
+        	</geometry>
+		  	<material name="white">
+        		<color rgba=".9 .9 .9 1"/>
+      		</material>
+    	</visual>  
+    
+     	<collision>
+      		<geometry>
+      			<sphere radius="${fingerTip_r}"/>
+      		</geometry>
+    	</collision>     
+    
+     
+  		</link>
+  	 		<joint name="joint_${finger_num*4+3}_tip" type="fixed">
+    		<parent link="link_${finger_num*4+3}"/>
+    		<child link="link_${finger_num*4+3}_tip"/>
+    		<origin rpy="0 0 0" xyz="0 0 ${link3_z-fingerTip_r}"/>
+  		</joint>   
+  
+</xacro:macro>
+<!-- [[END]] THREE FINGER MACRO -->
+
+    
+</robot>
+

hand_model/allegro_hand_description/build_desc.sh

@@ -0,0 +1,54 @@
+
+if [ "$1" == "-h" -o "$2" == "-h" ]
+then
+ echo -e "\n\n      BUILD_DESC.SH\n"
+ echo -e "   INSTRUCTIONS FOR USE\n   --------------------\n"
+ echo -e "'build_desc.sh' can be called with up to two (2) arguments.\nThe first argument is the side of the hand, left or right, and\nthe second argument determines the use of a robot tree diagram.\n\n"
+ echo -e "Examples:\n"
+ echo -e "   $ bash build_desc.sh RIGHT 1\n   Builds the right hand URDF from its xacro file and shows the robot tree diagram when finished.\n"
+ echo -e "   $ bash build_desc.sh left\n   Builds the left hand URDF from its xacro file and DOES NOT show the tree diagram.\n\n\n"
+ echo -e "Possible variations of the 1st argument are:\n RIGHT, Right, right, R, r, LEFT, Left, left, L and l.\n"
+ echo -e "For the 2nd argument, '1' produces the tree graph.\nLeft blank or passed any other value, the graph will not be created."
+ echo -e "\n\n"
+ exit 0
+fi
+	
+
+if [ "$1" == "right" -o "$1" == "Right" -o "$1" == "RIGHT" -o "$1" == "R" -o "$1" == "r" ]
+then
+	HAND="RIGHT"
+	hand="right"
+elif [ "$1" == "left" -o "$1" == "Left" -o "$1" == "LEFT" -o "$1" == "L" -o "$1" == "l" ]
+then
+	HAND="LEFT"
+	hand="left"
+else
+ echo -e "\n\nWrong or incorrect amount of arguments.\nUse 'bash build_desc.sh -h' for instructions.\n\n"
+ echo -e "If you see an error like\n'[: 7: right: unexpected operator',\nuse 'bash build_desc.sh' instead of 'sh build_desc.sh'.\n\n"
+ exit 0
+fi
+
+
+echo -e "\n\nBuilding the [[$HAND]] Allegro Hand URDF...\n"
+
+
+rosrun xacro xacro.py allegro_hand_description_$hand.xacro -o allegro_hand_description_$hand.urdf
+
+rosrun urdf check_urdf allegro_hand_description_$hand.urdf 
+
+echo -e "\n"
+
+
+
+
+
+if [ "$2" == "1" ] 
+then
+	rosrun urdf_parser urdf_to_graphiz allegro_hand_description_$hand.urdf 
+	rm *.gv
+	echo -e "Removed file allegro_hand_$hand.gv\n"
+	echo -e "Opening graph pdf...\n\n"
+	gnome-open allegro_hand_$hand.pdf
+else
+	echo -e "NOTE:\nTo open a graph of the hand upon URDF compilation,\nenter "1" as the second arg when calling 'bash build.sh'\n\n"
+fi

hand_model/allegro_hand_description/manifest.xml

@@ -0,0 +1,15 @@
+<package>
+  <description brief="AllegroHand_urdf">
+
+     AllegroHand_urdf
+
+  </description>
+  <author>Alex</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/AllegroHand_urdf</url>
+  <depend package="urdf"/>
+
+</package>
+
+

hand_model/contact_allegro.json

@@ -0,0 +1,27 @@
+{
+    "base_link":[[304, 311, 335, 333],[334, 357, 335, 333]],
+  
+    "link_8.0":[[294, 199, 295, 524],[301, 259, 442, 530]],
+    "link_9.0":[[131, 599, 598, 130], [604, 606, 602, 610], [347, 351, 106, 108], [122, 630, 613, 402], [401, 397, 137, 139], [138, 136, 120, 116]],
+    "link_10.0":[[92, 480, 222, 400], [121, 468, 225, 405], [95, 93, 496, 497], [461, 465, 525, 527]],
+    "link_11.0":[[31, 160, 111, 151], [152, 23, 136, 148]],
+    "link_11.0_tip":[[42, 605, 531, 46], [605, 666, 379, 543], [539, 118, 120, 119], [64, 659,  451, 602], [400, 450, 228, 496]],
+  
+    "link_4.0":[[294, 199, 295, 524],[301, 259, 442, 530]],
+    "link_5.0":[[131, 599, 598, 130], [604, 606, 602, 610], [347, 351, 106, 108], [122, 630, 613, 402], [401, 397, 137, 139], [138, 136, 120, 116]],
+    "link_6.0":[[92, 480, 222, 400], [121, 468, 225, 405], [95, 93, 496, 497], [461, 465, 525, 527]],
+    "link_7.0":[[31, 160, 111, 151], [152, 23, 136, 148]],
+    "link_7.0_tip":[[42, 605, 531, 46], [605, 666, 379, 543], [539, 118, 120, 119], [64, 659,  451, 602], [400, 450, 228, 496]],
+  
+    "link_0.0":[[294, 199, 295, 524],[301, 259, 442, 530]],
+    "link_1.0":[[131, 599, 598, 130], [604, 606, 602, 610], [347, 351, 106, 108], [122, 630, 613, 402], [401, 397, 137, 139], [138, 136, 120, 116]],
+    "link_2.0":[[92, 480, 222, 400], [121, 468, 225, 405], [95, 93, 496, 497], [461, 465, 525, 527]],
+    "link_3.0":[[31, 160, 111, 151], [152, 23, 136, 148]],
+    "link_3.0_tip":[[42, 605, 531, 46], [605, 666, 379, 543], [539, 118, 120, 119], [64, 659,  451, 602], [400, 450, 228, 496]],
+  
+    "link_12.0":[1624, 1587, 76, 3],
+    "link_13.0":[60, 222, 201, 28],
+    "link_14.0":[[98, 12, 10, 90], [409, 401, 456, 458]],
+    "link_15.0":[[75, 5, 7, 81],[369, 196, 198, 375]],
+    "link_15.0_tip":[[42, 605, 531, 46], [605, 666, 379, 543], [539, 118, 120, 119], [64, 659,  451, 602], [400, 450, 228, 496]]
+}

hand_model/contact_shadowhand.json

@@ -0,0 +1,23 @@
+{
+    "palm": [[16496, 16493, 8099, 16306], [17040, 9815, 12598, 2486], [12035, 11165, 16786, 16161], [2115, 6955, 12808, 14272]], 
+
+    "ffproximal": [[1031, 1751, 2078, 2508], [2413, 1394, 2367, 1518], [2194, 1641, 1333, 1567], [1949, 2591, 1234, 2757]], 
+    "ffmiddle": [[369, 743, 305, 1152], [390, 380, 1006, 1010], [642, 606, 612, 623], [771, 237, 263, 787]],   
+    "ffdistal": [[1860, 1334, 1234,2077], [1773, 1327, 1881, 2029], [2007, 841, 1787, 923], [1011, 2250, 1911, 2213], [2009, 1448, 1178, 2219]], 
+
+    "mfproximal": [[1031, 1751, 2078, 2508], [2413, 1394, 2367, 1518], [2194, 1641, 1333, 1567], [1949, 2591, 1234, 2757]], 
+    "mfmiddle": [[369, 743, 305, 1152], [390, 380, 1006, 1010], [642, 606, 612, 623], [771, 237, 263, 787]],    
+    "mfdistal": [[617, 35, 306, 583], [741, 797, 334, 735], [223, 667, 602, 290], [351, 107, 570, 560], [667, 277, 616, 226]], 
+
+    "rfproximal": [[1031, 1751, 2078, 2508], [2413, 1394, 2367, 1518], [2194, 1641, 1333, 1567], [1949, 2591, 1234, 2757]], 
+    "rfmiddle": [[369, 743, 305, 1152], [390, 380, 1006, 1010], [642, 606, 612, 623], [771, 237, 263, 787]],   
+    "rfdistal": [[1860, 1334, 1234,2077], [1773, 1327, 1881, 2029], [2007, 841, 1787, 923], [1011, 2250, 1911, 2213], [2009, 1448, 1178, 2219]], 
+
+    "lfproximal": [[1031, 1751, 2078, 2508], [2413, 1394, 2367, 1518], [2194, 1641, 1333, 1567], [1949, 2591, 1234, 2757]], 
+    "lfmiddle": [[369, 743, 305, 1152], [390, 380, 1006, 1010], [642, 606, 612, 623], [771, 237, 263, 787]], 
+    "lfdistal": [[617, 35, 306, 583], [741, 797, 334, 735], [223, 667, 602, 290], [351, 107, 570, 560], [667, 277, 616, 226]], 
+
+    "thproximal": [[171, 520, 609, 951], [176, 171, 341, 44], [173, 516, 1071, 944], [709, 725, 565, 483]], 
+    "thmiddle": [[2241, 2237, 1454, 1457], [995, 212, 1714, 1805], [1768, 1773, 1660, 2339], [206, 989, 1665, 3379]],  
+    "thdistal": [[1860, 1334, 1234,2077], [1773, 1327, 1881, 2029], [2007, 841, 1787, 923], [1011, 2250, 1911, 2213], [2009, 1448, 1178, 2219]]
+}

hand_model/panda_gripper_description/gripper_control_points/panda.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3b4466ad281a126587e98402c61f462370e4e82d64f71e0db91366fc2ab680b
+size 448

hand_model/panda_gripper_description/gripper_control_points/panda_gripper_coords.pickle

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30716407363c7c046c5cd50b92b659bb6ccf11bb07881641e24f0c772c81282c
+size 1527

hand_model/panda_gripper_description/gripper_control_points/panda_gripper_coords.yml

@@ -0,0 +1,10 @@
+gripper_left_center_indent: [0.041489, 0, 0.1034]
+gripper_left_center_flat: [0.0399, 0, 0.1034]
+gripper_right_center_indent: [-0.041489, 0, 0.1034]
+gripper_right_center_flat: [-0.0399, 0, 0.1034]
+gripper_left_tip_indent: [0.041489, 0, 0.112204]
+gripper_left_tip_flat: [0.0399, 0, 0.112204]
+gripper_right_tip_indent: [-0.041489, 0, 0.112204]
+gripper_right_tip_flat: [-0.0399, 0, 0.112204]
+l_z: 0.01754
+l_y: 0.01754

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hand_model/panda_gripper_description/gripper_models/panda_pc.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:eac25cfc54f35b002ad5b19e6ec92adcd0ba84ce682fe2a06b66c4f0b0d4a9b8
+size 817460

hand_model/shadow_hand_description/CMakeLists.txt

@@ -0,0 +1,161 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(sr_grasp_description)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  xacro
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES sr_grasp_description
+#  CATKIN_DEPENDS xacro
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(sr_grasp_description
+#   src/${PROJECT_NAME}/sr_grasp_description.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(sr_grasp_description_node src/sr_grasp_description_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(sr_grasp_description_node sr_grasp_description_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(sr_grasp_description_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS sr_grasp_description sr_grasp_description_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_sr_grasp_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)