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gavanderhoorn/hand.dae

Created March 23, 2015 17:38
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hand.dae
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hand.dae
<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">
<asset>
<contributor>
<authoring_tool>URDF Collada Writer</authoring_tool>
</contributor>
<created>2015-03-23T18:27:52.000000</created>
<modified>2015-03-23T18:27:52.000000</modified>
<unit/>
<up_axis>Z_UP</up_axis>
</asset>
<library_visual_scenes id="vscenes">
<visual_scene id="vscene" name="URDF Visual Scene">
<node id="visual0" name="human_hand" sid="visual0">
<node id="vkmodel0_node0" name="ahand_palm_link" sid="node0">
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node1" name="index_dof0_link" sid="node1">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.0934 0.02957 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_index_dof0_joint_axis0">0 0 1 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node2" name="index_dof1_link" sid="node2">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_index_dof1_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node3" name="index_dof2_link" sid="node3">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.04794 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_index_dof2_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node4" name="index_dof3_link" sid="node4">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.02827 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_index_dof3_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node5" name="index_dof4_link" sid="node5">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.02612 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_index_dof4_joint_axis0">0 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
</node>
</node>
</node>
</node>
</node>
<node id="vkmodel0_node6" name="middle_dof0_link" sid="node6">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.10125 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_middle_dof0_joint_axis0">0 0 1 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node7" name="middle_dof1_link" sid="node7">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_middle_dof1_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node8" name="middle_dof2_link" sid="node8">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.04988 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_middle_dof2_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node9" name="middle_dof3_link" sid="node9">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.03259 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_middle_dof3_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node10" name="middle_dof4_link" sid="node10">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.03043 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_middle_dof4_joint_axis0">0 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
</node>
</node>
</node>
</node>
</node>
<node id="vkmodel0_node11" name="pinky_dof0_link" sid="node11">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.082146 -0.047768 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_pinky_dof0_joint_axis0">0 0 1 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node12" name="pinky_dof1_link" sid="node12">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_pinky_dof1_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node13" name="pinky_dof2_link" sid="node13">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.03389 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_pinky_dof2_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node14" name="pinky_dof3_link" sid="node14">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.02396 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_pinky_dof3_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node15" name="pinky_dof4_link" sid="node15">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.02542 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_pinky_dof4_joint_axis0">0 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
</node>
</node>
</node>
</node>
</node>
<node id="vkmodel0_node16" name="ring_dof0_link" sid="node16">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.093608 -0.025021 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_ring_dof0_joint_axis0">0 0 1 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node17" name="ring_dof1_link" sid="node17">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_ring_dof1_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node18" name="ring_dof2_link" sid="node18">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.04416 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_ring_dof2_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node19" name="ring_dof3_link" sid="node19">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.03312 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_ring_dof3_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node20" name="ring_dof4_link" sid="node20">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.02887 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_ring_dof4_joint_axis0">0 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
</node>
</node>
</node>
</node>
</node>
<node id="vkmodel0_node21" name="thumb_dof0_link" sid="node21">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.032476 0.028433 0</translate>
<rotate>-0.01238310822551834 -0.007149390867435371 0.9998977671946768 60.00507314013976</rotate>
<rotate sid="node_thumb_dof0_joint_axis0">0 0 1 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node22" name="thumb_dof1_link" sid="node22">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_thumb_dof1_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node23" name="thumb_dof2_link" sid="node23">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.04565 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_thumb_dof2_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<node id="vkmodel0_node24" name="thumb_dof3_link" sid="node24">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.02678 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_thumb_dof3_joint_axis0">0 -1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
</node>
</node>
</node>
</node>
</node>
</node>
</visual_scene>
</library_visual_scenes>
<library_geometries id="geometries"/>
<library_effects id="effects"/>
<library_materials id="materials"/>
<library_kinematics_models id="kmodels">
<kinematics_model id="kmodel0" name="human_hand">
<technique_common>
<joint name="index_dof0_joint" sid="index_dof0_joint">
<revolute sid="axis0">
<axis>0 0 1</axis>
<limits>
<min>-8.000209693411685</min>
<max>3.00000701530499</max>
</limits>
</revolute>
</joint>
<joint name="index_dof1_joint" sid="index_dof1_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-8.000209693411685</min>
<max>3.00000701530499</max>
</limits>
</revolute>
</joint>
<joint name="index_dof2_joint" sid="index_dof2_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-90.00021045914971</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="index_dof3_joint" sid="index_dof3_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-99.99832398418258</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="index_dof4_joint" sid="index_dof4_joint">
<revolute sid="axis0">
<axis>0 0 0</axis>
<limits>
<min>0</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="middle_dof0_joint" sid="middle_dof0_joint">
<revolute sid="axis0">
<axis>0 0 1</axis>
<limits>
<min>-8.000209693411685</min>
<max>3.00000701530499</max>
</limits>
</revolute>
</joint>
<joint name="middle_dof1_joint" sid="middle_dof1_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-8.000209693411685</min>
<max>3.00000701530499</max>
</limits>
</revolute>
</joint>
<joint name="middle_dof2_joint" sid="middle_dof2_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-114.5915590261646</min>
<max>114.5915590261646</max>
</limits>
</revolute>
</joint>
<joint name="middle_dof3_joint" sid="middle_dof3_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-114.5915590261646</min>
<max>114.5915590261646</max>
</limits>
</revolute>
</joint>
<joint name="middle_dof4_joint" sid="middle_dof4_joint">
<revolute sid="axis0">
<axis>0 0 0</axis>
<limits>
<min>0</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="pinky_dof0_joint" sid="pinky_dof0_joint">
<revolute sid="axis0">
<axis>0 0 1</axis>
<limits>
<min>-8.000209693411685</min>
<max>3.00000701530499</max>
</limits>
</revolute>
</joint>
<joint name="pinky_dof1_joint" sid="pinky_dof1_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-8.000209693411685</min>
<max>3.00000701530499</max>
</limits>
</revolute>
</joint>
<joint name="pinky_dof2_joint" sid="pinky_dof2_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-90.00021045914971</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="pinky_dof3_joint" sid="pinky_dof3_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-99.99832398418258</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="pinky_dof4_joint" sid="pinky_dof4_joint">
<revolute sid="axis0">
<axis>0 0 0</axis>
<limits>
<min>0</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="ring_dof0_joint" sid="ring_dof0_joint">
<revolute sid="axis0">
<axis>0 0 1</axis>
<limits>
<min>-8.000209693411685</min>
<max>3.00000701530499</max>
</limits>
</revolute>
</joint>
<joint name="ring_dof1_joint" sid="ring_dof1_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-8.000209693411685</min>
<max>3.00000701530499</max>
</limits>
</revolute>
</joint>
<joint name="ring_dof2_joint" sid="ring_dof2_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-99.99832398418258</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="ring_dof3_joint" sid="ring_dof3_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-99.99832398418258</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="ring_dof4_joint" sid="ring_dof4_joint">
<revolute sid="axis0">
<axis>0 0 0</axis>
<limits>
<min>0</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="thumb_dof0_joint" sid="thumb_dof0_joint">
<revolute sid="axis0">
<axis>0 0 1</axis>
<limits>
<min>-99.99832398418258</min>
<max>39.99990255146816</max>
</limits>
</revolute>
</joint>
<joint name="thumb_dof1_joint" sid="thumb_dof1_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-46.99972793458143</min>
<max>30.0000701530499</max>
</limits>
</revolute>
</joint>
<joint name="thumb_dof2_joint" sid="thumb_dof2_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-90.00021045914971</min>
<max>0</max>
</limits>
</revolute>
</joint>
<joint name="thumb_dof3_joint" sid="thumb_dof3_joint">
<revolute sid="axis0">
<axis>0 -1 0</axis>
<limits>
<min>-90.00021045914971</min>
<max>20.00023775463164</max>
</limits>
</revolute>
</joint>
<link sid="ahand_palm_link" name="ahand_palm_link">
<attachment_full joint="kmodel0/index_dof0_joint">
<translate>0.0934 0.02957 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="index_dof0_link" name="index_dof0_link">
<attachment_full joint="kmodel0/index_dof1_joint">
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="index_dof1_link" name="index_dof1_link">
<attachment_full joint="kmodel0/index_dof2_joint">
<translate>0.04794 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="index_dof2_link" name="index_dof2_link">
<attachment_full joint="kmodel0/index_dof3_joint">
<translate>0.02827 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="index_dof3_link" name="index_dof3_link">
<attachment_full joint="kmodel0/index_dof4_joint">
<translate>0.02612 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="index_dof4_link" name="index_dof4_link"/>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
<attachment_full joint="kmodel0/middle_dof0_joint">
<translate>0.10125 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="middle_dof0_link" name="middle_dof0_link">
<attachment_full joint="kmodel0/middle_dof1_joint">
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="middle_dof1_link" name="middle_dof1_link">
<attachment_full joint="kmodel0/middle_dof2_joint">
<translate>0.04988 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="middle_dof2_link" name="middle_dof2_link">
<attachment_full joint="kmodel0/middle_dof3_joint">
<translate>0.03259 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="middle_dof3_link" name="middle_dof3_link">
<attachment_full joint="kmodel0/middle_dof4_joint">
<translate>0.03043 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="middle_dof4_link" name="middle_dof4_link"/>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
<attachment_full joint="kmodel0/pinky_dof0_joint">
<translate>0.082146 -0.047768 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="pinky_dof0_link" name="pinky_dof0_link">
<attachment_full joint="kmodel0/pinky_dof1_joint">
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="pinky_dof1_link" name="pinky_dof1_link">
<attachment_full joint="kmodel0/pinky_dof2_joint">
<translate>0.03389 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="pinky_dof2_link" name="pinky_dof2_link">
<attachment_full joint="kmodel0/pinky_dof3_joint">
<translate>0.02396 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="pinky_dof3_link" name="pinky_dof3_link">
<attachment_full joint="kmodel0/pinky_dof4_joint">
<translate>0.02542 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="pinky_dof4_link" name="pinky_dof4_link"/>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
<attachment_full joint="kmodel0/ring_dof0_joint">
<translate>0.093608 -0.025021 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="ring_dof0_link" name="ring_dof0_link">
<attachment_full joint="kmodel0/ring_dof1_joint">
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="ring_dof1_link" name="ring_dof1_link">
<attachment_full joint="kmodel0/ring_dof2_joint">
<translate>0.04416 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="ring_dof2_link" name="ring_dof2_link">
<attachment_full joint="kmodel0/ring_dof3_joint">
<translate>0.03312 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="ring_dof3_link" name="ring_dof3_link">
<attachment_full joint="kmodel0/ring_dof4_joint">
<translate>0.02887 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="ring_dof4_link" name="ring_dof4_link"/>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
<attachment_full joint="kmodel0/thumb_dof0_joint">
<translate>0.032476 0.028433 0</translate>
<rotate>-0.01238310822551834 -0.007149390867435371 0.9998977671946768 60.00507314013976</rotate>
<link sid="thumb_dof0_link" name="thumb_dof0_link">
<attachment_full joint="kmodel0/thumb_dof1_joint">
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="thumb_dof1_link" name="thumb_dof1_link">
<attachment_full joint="kmodel0/thumb_dof2_joint">
<translate>0.04565 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="thumb_dof2_link" name="thumb_dof2_link">
<attachment_full joint="kmodel0/thumb_dof3_joint">
<translate>0.02678 0 0</translate>
<rotate>1 0 0 0</rotate>
<link sid="thumb_dof3_link" name="thumb_dof3_link"/>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</attachment_full>
</link>
</technique_common>
</kinematics_model>
</library_kinematics_models>
<library_articulated_systems id="asystems">
<articulated_system id="robot0_motion">
<motion>
<instance_articulated_system url="#robot0_kinematics">
<newparam sid="robot0_motion_kmodel0_inst">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0</SIDREF>
</newparam>
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value">
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value</SIDREF>
</newparam>
</instance_articulated_system>
<technique_common>
<axis_info axis="robot0_kinematics/axis_info_inst0">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst1">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst2">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst3">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst4"/>
<axis_info axis="robot0_kinematics/axis_info_inst5">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst6">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst7">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst8">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst9"/>
<axis_info axis="robot0_kinematics/axis_info_inst10">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst11">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst12">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst13">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst14"/>
<axis_info axis="robot0_kinematics/axis_info_inst15">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst16">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst17">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst18">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst19"/>
<axis_info axis="robot0_kinematics/axis_info_inst20">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst21">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst22">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
<axis_info axis="robot0_kinematics/axis_info_inst23">
<speed>
<float>100</float>
</speed>
<acceleration>
<float>100</float>
</acceleration>
</axis_info>
</technique_common>
</motion>
</articulated_system>
<articulated_system id="robot0_kinematics">
<kinematics>
<instance_kinematics_model url="#kmodel0" sid="kmodel0_inst">
<newparam sid="robot0_kinematics_kmodel0_inst">
<SIDREF>robot0_kinematics/kmodel0_inst</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof0_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof1_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof2_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof3_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof4_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof0_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof1_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof2_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof3_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof4_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof0_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof1_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof2_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof3_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof4_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof0_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof1_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof2_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof3_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof4_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/thumb_dof0_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/thumb_dof1_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/thumb_dof2_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value">
<float>0</float>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0">
<SIDREF>robot0_kinematics/kmodel0_inst/thumb_dof3_joint/axis0</SIDREF>
</newparam>
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value">
<float>0</float>
</newparam>
</instance_kinematics_model>
<technique_common>
<axis_info sid="axis_info_inst0" axis="kmodel0/index_dof0_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-8.000209693411685</float>
</min>
<max>
<float>3.00000701530499</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst1" axis="kmodel0/index_dof1_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-8.000209693411685</float>
</min>
<max>
<float>3.00000701530499</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst2" axis="kmodel0/index_dof2_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-90.00021045914971</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst3" axis="kmodel0/index_dof3_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-99.99832398418258</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst4" axis="kmodel0/index_dof4_joint/axis0">
<active>
<bool>false</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>0</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst5" axis="kmodel0/middle_dof0_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-8.000209693411685</float>
</min>
<max>
<float>3.00000701530499</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst6" axis="kmodel0/middle_dof1_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-8.000209693411685</float>
</min>
<max>
<float>3.00000701530499</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst7" axis="kmodel0/middle_dof2_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-114.5915590261646</float>
</min>
<max>
<float>114.5915590261646</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst8" axis="kmodel0/middle_dof3_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-114.5915590261646</float>
</min>
<max>
<float>114.5915590261646</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst9" axis="kmodel0/middle_dof4_joint/axis0">
<active>
<bool>false</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>0</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst10" axis="kmodel0/pinky_dof0_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-8.000209693411685</float>
</min>
<max>
<float>3.00000701530499</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst11" axis="kmodel0/pinky_dof1_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-8.000209693411685</float>
</min>
<max>
<float>3.00000701530499</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst12" axis="kmodel0/pinky_dof2_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-90.00021045914971</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst13" axis="kmodel0/pinky_dof3_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-99.99832398418258</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst14" axis="kmodel0/pinky_dof4_joint/axis0">
<active>
<bool>false</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>0</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst15" axis="kmodel0/ring_dof0_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-8.000209693411685</float>
</min>
<max>
<float>3.00000701530499</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst16" axis="kmodel0/ring_dof1_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-8.000209693411685</float>
</min>
<max>
<float>3.00000701530499</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst17" axis="kmodel0/ring_dof2_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-99.99832398418258</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst18" axis="kmodel0/ring_dof3_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-99.99832398418258</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst19" axis="kmodel0/ring_dof4_joint/axis0">
<active>
<bool>false</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>0</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst20" axis="kmodel0/thumb_dof0_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-99.99832398418258</float>
</min>
<max>
<float>39.99990255146816</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst21" axis="kmodel0/thumb_dof1_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-46.99972793458143</float>
</min>
<max>
<float>30.0000701530499</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst22" axis="kmodel0/thumb_dof2_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-90.00021045914971</float>
</min>
<max>
<float>0</float>
</max>
</limits>
</axis_info>
<axis_info sid="axis_info_inst23" axis="kmodel0/thumb_dof3_joint/axis0">
<active>
<bool>true</bool>
</active>
<locked>
<bool>false</bool>
</locked>
<limits>
<min>
<float>-90.00021045914971</float>
</min>
<max>
<float>20.00023775463164</float>
</max>
</limits>
</axis_info>
</technique_common>
</kinematics>
</articulated_system>
</library_articulated_systems>
<library_kinematics_scenes id="kscenes">
<kinematics_scene id="kscene" name="URDF Kinematics Scene">
<instance_articulated_system sid="robot0_motion_inst" url="#robot0_motion" name="human_hand">
<bind symbol="kscene_kmodel0_inst">
<param ref="robot0_motion/robot0_motion_kmodel0_inst"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value"/>
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<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0"/>
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<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value"/>
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<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0"/>
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<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value"/>
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<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0"/>
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<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0"/>
</bind>
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value">
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value"/>
</bind>
</instance_articulated_system>
</kinematics_scene>
</library_kinematics_scenes>
<library_physics_scenes id="pscenes">
<physics_scene id="pscene" name="URDF Physics Scene">
<instance_physics_model url="#pmodel0" sid="pmodel0_inst" parent="#visual0">
<instance_rigid_body body="rigid0" target="#vkmodel0_node0"/>
<instance_rigid_body body="rigid1" target="#vkmodel0_node1"/>
<instance_rigid_body body="rigid2" target="#vkmodel0_node2"/>
<instance_rigid_body body="rigid3" target="#vkmodel0_node3"/>
<instance_rigid_body body="rigid4" target="#vkmodel0_node4"/>
<instance_rigid_body body="rigid5" target="#vkmodel0_node5"/>
<instance_rigid_body body="rigid6" target="#vkmodel0_node6"/>
<instance_rigid_body body="rigid7" target="#vkmodel0_node7"/>
<instance_rigid_body body="rigid8" target="#vkmodel0_node8"/>
<instance_rigid_body body="rigid9" target="#vkmodel0_node9"/>
<instance_rigid_body body="rigid10" target="#vkmodel0_node10"/>
<instance_rigid_body body="rigid11" target="#vkmodel0_node11"/>
<instance_rigid_body body="rigid12" target="#vkmodel0_node12"/>
<instance_rigid_body body="rigid13" target="#vkmodel0_node13"/>
<instance_rigid_body body="rigid14" target="#vkmodel0_node14"/>
<instance_rigid_body body="rigid15" target="#vkmodel0_node15"/>
<instance_rigid_body body="rigid16" target="#vkmodel0_node16"/>
<instance_rigid_body body="rigid17" target="#vkmodel0_node17"/>
<instance_rigid_body body="rigid18" target="#vkmodel0_node18"/>
<instance_rigid_body body="rigid19" target="#vkmodel0_node19"/>
<instance_rigid_body body="rigid20" target="#vkmodel0_node20"/>
<instance_rigid_body body="rigid21" target="#vkmodel0_node21"/>
<instance_rigid_body body="rigid22" target="#vkmodel0_node22"/>
<instance_rigid_body body="rigid23" target="#vkmodel0_node23"/>
<instance_rigid_body body="rigid24" target="#vkmodel0_node24"/>
</instance_physics_model>
<technique_common>
<gravity>0 0 0</gravity>
</technique_common>
</physics_scene>
</library_physics_scenes>
<library_physics_models id="pmodels">
<physics_model id="pmodel0" name="human_hand">
<rigid_body sid="rigid0" name="ahand_palm_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid1" name="index_dof0_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid2" name="index_dof1_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid3" name="index_dof2_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid4" name="index_dof3_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid5" name="index_dof4_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid6" name="middle_dof0_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid7" name="middle_dof1_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid8" name="middle_dof2_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid9" name="middle_dof3_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid10" name="middle_dof4_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid11" name="pinky_dof0_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid12" name="pinky_dof1_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid13" name="pinky_dof2_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid14" name="pinky_dof3_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid15" name="pinky_dof4_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid16" name="ring_dof0_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid17" name="ring_dof1_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid18" name="ring_dof2_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid19" name="ring_dof3_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid20" name="ring_dof4_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid21" name="thumb_dof0_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid22" name="thumb_dof1_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid23" name="thumb_dof2_link">
<technique_common/>
</rigid_body>
<rigid_body sid="rigid24" name="thumb_dof3_link">
<technique_common/>
</rigid_body>
</physics_model>
</library_physics_models>
<scene>
<instance_physics_scene url="#pscene"/>
<instance_visual_scene url="#vscene"/>
<instance_kinematics_scene url="#kscene">
<bind_kinematics_model node="visual0/node0">
<param>kscene_kmodel0_inst</param>
</bind_kinematics_model>
<bind_joint_axis target="node1/node_index_dof0_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node2/node_index_dof1_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node1/node3/node_index_dof2_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node1/node2/node4/node_index_dof3_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node1/node2/node3/node5/node_index_dof4_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node6/node_middle_dof0_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node7/node_middle_dof1_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node6/node8/node_middle_dof2_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node6/node7/node9/node_middle_dof3_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node6/node7/node8/node10/node_middle_dof4_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node11/node_pinky_dof0_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node12/node_pinky_dof1_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node11/node13/node_pinky_dof2_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node11/node12/node14/node_pinky_dof3_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node11/node12/node13/node15/node_pinky_dof4_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node16/node_ring_dof0_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node17/node_ring_dof1_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node16/node18/node_ring_dof2_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node16/node17/node19/node_ring_dof3_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node16/node17/node18/node20/node_ring_dof4_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node21/node_thumb_dof0_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node22/node_thumb_dof1_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node21/node23/node_thumb_dof2_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value</param>
</value>
</bind_joint_axis>
<bind_joint_axis target="node0/node21/node22/node24/node_thumb_dof3_joint_axis0">
<axis>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0</param>
</axis>
<value>
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value</param>
</value>
</bind_joint_axis>
</instance_kinematics_scene>
</scene>
<extra id="sensors" type="library_sensors">
<technique profile="OpenRAVE"/>
</extra>
</COLLADA>
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