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+<robot name="openarm_bimanual_wuji">
+  <link name="world" />
+  <joint name="openarm_body_world_joint" type="fixed">
+    <parent link="world" />
+    <child link="openarm_body_link0" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
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+      <geometry>
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+      </geometry>
+    </visual>
+  </link>
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+    <parent link="openarm_body_link0" />
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+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
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+      <geometry>
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+    <parent link="openarm_left_link0" />
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+    <parent link="openarm_left_link1" />
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+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/collision/link0_symp.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" />
+      <mass value="1.1432284943239561" />
+      <inertia ixx="0.001128" ixy="-4e-06" ixz="-3.3e-05" iyy="0.000962" iyz="-7e-06" izz="0.00147" />
+    </inertial>
+    <visual name="openarm_right_link0_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/visual/link0.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+  </link>
+  <link name="openarm_right_link1">
+    <collision name="openarm_right_link1_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/collision/link1_symp.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" />
+      <mass value="1.1416684646202298" />
+      <inertia ixx="0.001567" ixy="-1e-06" ixz="-2.9e-05" iyy="0.001273" iyz="1e-06" izz="0.001016" />
+    </inertial>
+    <visual name="openarm_right_link1_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 -0.0625" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/visual/link1.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="openarm_right_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0625" />
+    <parent link="openarm_right_link0" />
+    <child link="openarm_right_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="40" lower="-1.396263" upper="3.490659" velocity="16.754666" />
+  </joint>
+  <link name="openarm_right_link2">
+    <collision name="openarm_right_link2_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/collision/link2_symp.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" />
+      <mass value="0.2775092746011571" />
+      <inertia ixx="0.000359" ixy="1e-06" ixz="-0.000109" iyy="0.000376" iyz="1e-06" izz="0.000232" />
+    </inertial>
+    <visual name="openarm_right_link2_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0301 0.0 -0.1225" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/visual/link2.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="openarm_right_joint2" type="revolute">
+    <origin rpy="1.57079632679 0 0" xyz="-0.0301 0.0 0.06" />
+    <parent link="openarm_right_link1" />
+    <child link="openarm_right_link2" />
+    <axis xyz="-1 0 0" />
+    <limit effort="40" lower="-0.17453267320510335" upper="3.3161253267948965" velocity="16.754666" />
+  </joint>
+  <link name="openarm_right_link3">
+    <collision name="openarm_right_link3_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/collision/link3_symp.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.002104752099628911 0.0005549085042607548 0.09047470545721961" />
+      <mass value="1.073863338202347" />
+      <inertia ixx="0.004372" ixy="1e-06" ixz="1.1e-05" iyy="0.004319" iyz="-3.6e-05" izz="0.000661" />
+    </inertial>
+    <visual name="openarm_right_link3_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.18875" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/visual/link3.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="openarm_right_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0301 0.0 0.06625" />
+    <parent link="openarm_right_link2" />
+    <child link="openarm_right_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="27" lower="-1.570796" upper="1.570796" velocity="5.445426" />
+  </joint>
+  <link name="openarm_right_link4">
+    <collision name="openarm_right_link4_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/collision/link4_symp.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" />
+      <mass value="0.6348534566833373" />
+      <inertia ixx="0.000623" ixy="-1e-06" ixz="-1.9e-05" iyy="0.000511" iyz="3.8e-05" izz="0.000334" />
+    </inertial>
+    <visual name="openarm_right_link4_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0315 -0.3425" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/visual/link4.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="openarm_right_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0 0.0315 0.15375" />
+    <parent link="openarm_right_link3" />
+    <child link="openarm_right_link4" />
+    <axis xyz="0 1 0" />
+    <limit effort="27" lower="0.0" upper="2.443461" velocity="5.445426" />
+  </joint>
+  <link name="openarm_right_link5">
+    <collision name="openarm_right_link5_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/collision/link5_symp.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" />
+      <mass value="0.6156588026168502" />
+      <inertia ixx="0.000423" ixy="-8e-06" ixz="6e-06" iyy="0.000445" iyz="-6e-06" izz="0.000324" />
+    </inertial>
+    <visual name="openarm_right_link5_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0 -0.438" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/visual/link5.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="openarm_right_joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0315 0.0955" />
+    <parent link="openarm_right_link4" />
+    <child link="openarm_right_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+  <link name="openarm_right_link6">
+    <collision name="openarm_right_link6_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/collision/link6_symp.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" />
+      <mass value="0.475202773187987" />
+      <inertia ixx="0.000143" ixy="1e-06" ixz="1e-06" iyy="0.000157" iyz="1e-06" izz="0.000159" />
+    </inertial>
+    <visual name="openarm_right_link6_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0375 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/visual/link6.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="openarm_right_joint6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0375 0.0 0.1205" />
+    <parent link="openarm_right_link5" />
+    <child link="openarm_right_link6" />
+    <axis xyz="1 0 0" />
+    <limit effort="7" lower="-0.785398" upper="0.785398" velocity="20.943946" />
+  </joint>
+  <link name="openarm_right_link7">
+    <collision name="openarm_right_link7_collision">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="../openarm_description/meshes/arm/v10/collision/link7_symp.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+    <visual name="openarm_right_link7_visual">
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.5585" />
+      <geometry>
+        <mesh filename="meshes/visual/arm/link7_0_without_hand_side_ring.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="6.875510271106056e-05 0.01266175250761268 0.06951945409987448" />
+      <mass value="0.4659771327380578" />
+      <inertia ixx="0.000639" ixy="1e-06" ixz="1e-06" iyy="0.000497" iyz="8.9e-05" izz="0.000342" />
+    </inertial>
+  </link>
+  <joint name="openarm_right_joint7" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.0375 0.0 0.0" />
+    <parent link="openarm_right_link6" />
+    <child link="openarm_right_link7" />
+    <axis xyz="0 1 0" />
+    <limit effort="7" lower="-1.570796" upper="1.570796" velocity="20.943946" />
+  </joint>
+  <link name="left_palm_link">
+    <inertial>
+      <origin xyz="-0.0029787944008666 -0.000452551657325986 0.036654705440297" rpy="0 0 0" />
+      <mass value="0.16914" />
+      <inertia ixx="0.00014" ixy="2.54e-06" ixz="6.91e-06" iyy="9.47e-05" iyz="-6.63e-06" izz="6e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_palm_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_palm_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_finger1_link1">
+    <inertial>
+      <origin xyz="-0.00312584337053766 0.00124334711478157 -0.00755622685821667" rpy="0 0 0" />
+      <mass value="0.0075" />
+      <inertia ixx="3.2e-07" ixy="-2e-08" ixz="0.0" iyy="3e-07" iyz="4e-08" izz="2.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger1_joint1" type="revolute">
+    <origin xyz="0.00843985365597852 -0.0205866432293554 0.0288928344107784" rpy="1.5023139401368 0.43577167910554 3.11264835810693" />
+    <parent link="left_palm_link" />
+    <child link="left_finger1_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="0.0583" upper="1.5941" effort="0.4452" velocity="8.587" />
+  </joint>
+  <link name="left_finger1_link2">
+    <inertial>
+      <origin xyz="-0.00142783471547994 1.46615421709184e-05 -0.0156342507741224" rpy="0 0 0" />
+      <mass value="0.0248" />
+      <inertia ixx="2.76e-06" ixy="2e-08" ixz="1e-08" iyy="2.81e-06" iyz="2e-08" izz="6.8e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger1_joint2" type="revolute">
+    <origin xyz="-0.0054483 0.0058191 -0.01388" rpy="0.14937 -0.34623 1.5901" />
+    <parent link="left_finger1_link1" />
+    <child link="left_finger1_link2" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-0.1199" upper="0.9335" effort="0.4259" velocity="11.1" />
+  </joint>
+  <link name="left_finger1_link3">
+    <inertial>
+      <origin xyz="0.00112319665690949 1.57299540108416e-05 -0.0130565799894585" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.46e-06" ixy="0.0" ixz="-2e-08" iyy="1.42e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger1_joint3" type="revolute">
+    <origin xyz="-0.000846961087777298 0.000991504133990267 -0.0346562987377679" rpy="0.0332538563601251 0.0117623260174173 -1.90877003040037" />
+    <parent link="left_finger1_link2" />
+    <child link="left_finger1_link3" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4646" upper="1.5639" effort="0.1888" velocity="13.578" />
+  </joint>
+  <link name="left_finger1_link4">
+    <inertial>
+      <origin xyz="0.00119215114836296 1.41428709807684e-05 -0.00821130287749315" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.18e-06" ixy="0.0" ixz="1.2e-07" iyy="1.25e-06" iyz="0.0" izz="5.1e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger1_joint4" type="revolute">
+    <origin xyz="0 0 -0.0294999998969489" rpy="0 0 0" />
+    <parent link="left_finger1_link3" />
+    <child link="left_finger1_link4" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4570" upper="1.5684" effort="0.1468" velocity="12.863" />
+  </joint>
+  <link name="left_finger1_tip_link">
+    <inertial>
+      <origin xyz="-0.000321120906836544 5.07425935932157e-05 0.000622110779642859" rpy="0 0 0" />
+      <mass value="0.0041" />
+      <inertia ixx="5.5e-07" ixy="0.0" ixz="2e-08" iyy="5.2e-07" iyz="0.0" izz="2.7e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger1_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger1_tip_fixed" type="fixed">
+    <origin xyz="0.00104999999999626 0 -0.0235000000000007" rpy="3.14159265358971 0 -3.14159265358979" />
+    <parent link="left_finger1_link4" />
+    <child link="left_finger1_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_finger2_link1">
+    <inertial>
+      <origin xyz="-0.00134243892861889 -5.65576364214282e-09 0.000258175161295587" rpy="0 0 0" />
+      <mass value="0.0032" />
+      <inertia ixx="8e-08" ixy="0.0" ixz="-3e-08" iyy="7e-08" iyz="0.0" izz="8e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger2_joint1" type="revolute">
+    <origin xyz="-0.00587008921400943 -0.0294338632807759 0.0919165306703557" rpy="0.110463316505378 -0.0251937198594477 0.223332069867641" />
+    <parent link="left_palm_link" />
+    <child link="left_finger2_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.1560" upper="1.5619" effort="0.6188" velocity="8.203" />
+  </joint>
+  <link name="left_finger2_link2">
+    <inertial>
+      <origin xyz="-0.00453252206258244 4.38298002711224e-07 0.0209110403187525" rpy="0 0 0" />
+      <mass value="0.033" />
+      <inertia ixx="6.31e-06" ixy="0.0" ixz="-1.6e-07" iyy="6.34e-06" iyz="0.0" izz="8.9e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger2_joint2" type="revolute">
+    <origin xyz="0.000389540189408399 0 0.00402230398376657" rpy="0 -0.0462278050739338 0" />
+    <parent link="left_finger2_link1" />
+    <child link="left_finger2_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.4095" upper="0.2921" effort="0.1822" velocity="8.115" />
+  </joint>
+  <link name="left_finger2_link3">
+    <inertial>
+      <origin xyz="-0.00112187305056449 -6.72383091306211e-05 0.0157188385130449" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.47e-06" ixy="0.0" ixz="3e-08" iyy="1.44e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger2_joint3" type="revolute">
+    <origin xyz="-0.00312502624735005 0.000100282455430194 0.0436176874512652" rpy="0 0 0.000268612717770449" />
+    <parent link="left_finger2_link2" />
+    <child link="left_finger2_link3" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4839" upper="1.5466" effort="0.2251" velocity="13.578" />
+  </joint>
+  <link name="left_finger2_link4">
+    <inertial>
+      <origin xyz="-0.000894378084124292 -8.29346633020867e-05 0.00535175866484416" rpy="0 0 0" />
+      <mass value="0.014" />
+      <inertia ixx="9.5e-07" ixy="0.0" ixz="1.4e-07" iyy="8.6e-07" iyz="-1e-08" izz="3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger2_joint4" type="revolute">
+    <origin xyz="0 0 0.0294999999999921" rpy="0 0 0" />
+    <parent link="left_finger2_link3" />
+    <child link="left_finger2_link4" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4723" upper="1.5754" effort="0.2170" velocity="12.863" />
+  </joint>
+  <link name="left_finger2_tip_link">
+    <inertial>
+      <origin xyz="0.000717599084723131 -8.44809051070428e-06 -0.00585768176210114" rpy="0 0 0" />
+      <mass value="0.00318" />
+      <inertia ixx="2e-07" ixy="0.0" ixz="0.0" iyy="2.1e-07" iyz="0.0" izz="1.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger2_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger2_tip_fixed" type="fixed">
+    <origin xyz="-0.00199999998882132 -9.99999775618474E-05 0.0239466139626726" rpy="0 0 0" />
+    <parent link="left_finger2_link4" />
+    <child link="left_finger2_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_finger3_link1">
+    <inertial>
+      <origin xyz="-0.00135189648465354 -1.49581419299494e-08 0.000202846484209235" rpy="0 0 0" />
+      <mass value="0.0032" />
+      <inertia ixx="8e-08" ixy="0.0" ixz="-3e-08" iyy="7e-08" iyz="0.0" izz="8e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger3_joint1" type="revolute">
+    <origin xyz="-0.01046 -0.0074615 0.089544" rpy="5.0693E-05 0 -0.00057944" />
+    <parent link="left_palm_link" />
+    <child link="left_finger3_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.1569" upper="1.5536" effort="0.6494" velocity="8.203" />
+  </joint>
+  <link name="left_finger3_link2">
+    <inertial>
+      <origin xyz="-0.00633780329162388 3.07421349281852e-06 0.0204364275125137" rpy="0 0 0" />
+      <mass value="0.033" />
+      <inertia ixx="6.31e-06" ixy="0.0" ixz="-1.6e-07" iyy="6.34e-06" iyz="0.0" izz="8.9e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger3_joint2" type="revolute">
+    <origin xyz="0.000224188923157675 0 0.00403489896760838" rpy="0 -0.0872664630099629 0" />
+    <parent link="left_finger3_link1" />
+    <child link="left_finger3_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.3977" upper="0.3115" effort="0.1827" velocity="8.115" />
+  </joint>
+  <link name="left_finger3_link3">
+    <inertial>
+      <origin xyz="-0.00112187206031908 -6.72195699478878e-05 0.0157188383883545" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.47e-06" ixy="0.0" ixz="3e-08" iyy="1.44e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger3_joint3" type="revolute">
+    <origin xyz="-0.00312502618421547 0.000100282625113788 0.0436176874508615" rpy="0 0 0.000268612717747223" />
+    <parent link="left_finger3_link2" />
+    <child link="left_finger3_link3" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4847" upper="1.5411" effort="0.2078" velocity="13.578" />
+  </joint>
+  <link name="left_finger3_link4">
+    <inertial>
+      <origin xyz="-0.000894360550804676 -8.29500264891304e-05 0.00535176646607979" rpy="0 0 0" />
+      <mass value="0.014" />
+      <inertia ixx="9.5e-07" ixy="0.0" ixz="1.4e-07" iyy="8.6e-07" iyz="-1e-08" izz="3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger3_joint4" type="revolute">
+    <origin xyz="0 0 0.0294999999999998" rpy="0 0 0" />
+    <parent link="left_finger3_link3" />
+    <child link="left_finger3_link4" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4671" upper="1.5788" effort="0.2018" velocity="12.863" />
+  </joint>
+  <link name="left_finger3_tip_link">
+    <inertial>
+      <origin xyz="0.000762258859382664 -7.6173785743764e-07 -0.00585762976136608" rpy="0 0 0" />
+      <mass value="0.00318" />
+      <inertia ixx="2e-07" ixy="0.0" ixz="0.0" iyy="2.1e-07" iyz="0.0" izz="1.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger3_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger3_tip_fixed" type="fixed">
+    <origin xyz="-0.00199999998882053 -9.99999999926624E-05 0.0239466139625789" rpy="0 0 0" />
+    <parent link="left_finger3_link4" />
+    <child link="left_finger3_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_finger4_link1">
+    <inertial>
+      <origin xyz="-0.00135118675339803 -9.65326286614387e-09 0.000207528544014832" rpy="0 0 0" />
+      <mass value="0.0032" />
+      <inertia ixx="8e-08" ixy="0.0" ixz="-3e-08" iyy="7e-08" iyz="0.0" izz="8e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger4_joint1" type="revolute">
+    <origin xyz="-0.0076649 0.013712 0.084429" rpy="-0.090059 0 -0.054679" />
+    <parent link="left_palm_link" />
+    <child link="left_finger4_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.1507" upper="1.5636" effort="0.6389" velocity="8.203" />
+  </joint>
+  <link name="left_finger4_link2">
+    <inertial>
+      <origin xyz="-0.00452747286008461 0.0002141653801618 0.0209110368688094" rpy="0 0 0" />
+      <mass value="0.033" />
+      <inertia ixx="6.31e-06" ixy="0.0" ixz="-1.6e-07" iyy="6.34e-06" iyz="0.0" izz="8.9e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger4_joint2" type="revolute">
+    <origin xyz="0.000238272023819444 0 0.00403409169489746" rpy="0 -0.0837758044893524 0" />
+    <parent link="left_finger4_link1" />
+    <child link="left_finger4_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.4101" upper="0.3014" effort="0.1832" velocity="8.115" />
+  </joint>
+  <link name="left_finger4_link3">
+    <inertial>
+      <origin xyz="-0.00112187686014802 -6.72060755895765e-05 0.015718842473584" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.47e-06" ixy="0.0" ixz="3e-08" iyy="1.44e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger4_joint3" type="revolute">
+    <origin xyz="-0.00312502629370909 0.000100282441161618 0.0436176874512648" rpy="0 0 0.000268623287696204" />
+    <parent link="left_finger4_link2" />
+    <child link="left_finger4_link3" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4747" upper="1.5526" effort="0.2249" velocity="13.578" />
+  </joint>
+  <link name="left_finger4_link4">
+    <inertial>
+      <origin xyz="-0.000894364002322151 -8.29585181423027e-05 0.00535176963985756" rpy="0 0 0" />
+      <mass value="0.014" />
+      <inertia ixx="9.5e-07" ixy="0.0" ixz="1.4e-07" iyy="8.6e-07" iyz="-1e-08" izz="3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger4_joint4" type="revolute">
+    <origin xyz="0 0 0.0295000000000005" rpy="0 0 0" />
+    <parent link="left_finger4_link3" />
+    <child link="left_finger4_link4" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4729" upper="1.5718" effort="0.2044" velocity="12.863" />
+  </joint>
+  <link name="left_finger4_tip_link">
+    <inertial>
+      <origin xyz="0.00076005480047972 -1.77864189068594e-05 -0.00585759702543506" rpy="0 0 0" />
+      <mass value="0.00318" />
+      <inertia ixx="2e-07" ixy="0.0" ixz="0.0" iyy="2.1e-07" iyz="0.0" izz="1.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger4_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger4_tip_fixed" type="fixed">
+    <origin xyz="-0.00199999999999928 -9.99999794204474E-05 0.0239466139617312" rpy="0 0 0" />
+    <parent link="left_finger4_link4" />
+    <child link="left_finger4_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_finger5_link1">
+    <inertial>
+      <origin xyz="-0.00135329447496806 -2.35789230987327e-08 0.000193346570700414" rpy="0 0 0" />
+      <mass value="0.0032" />
+      <inertia ixx="8e-08" ixy="0.0" ixz="-3e-08" iyy="7e-08" iyz="0.0" izz="8e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger5_joint1" type="revolute">
+    <origin xyz="-0.00226865105948153 0.0340011106647822 0.0742813381432918" rpy="-0.191650218499317 0 -0.175676455157885" />
+    <parent link="left_palm_link" />
+    <child link="left_finger5_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.1578" upper="1.5632" effort="0.6441" velocity="8.203" />
+  </joint>
+  <link name="left_finger5_link2">
+    <inertial>
+      <origin xyz="-0.00453252784898839 4.36745136160599e-07 0.0209110443867004" rpy="0 0 0" />
+      <mass value="0.033" />
+      <inertia ixx="6.31e-06" ixy="0.0" ixz="-1.6e-07" iyy="6.34e-06" iyz="0.0" izz="8.9e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger5_joint2" type="revolute">
+    <origin xyz="0.000196015009673409 0 0.00403636545307588" rpy="0 -0.0942477800158131 0" />
+    <parent link="left_finger5_link1" />
+    <child link="left_finger5_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.4103" upper="0.2949" effort="0.1798" velocity="8.115" />
+  </joint>
+  <link name="left_finger5_link3">
+    <inertial>
+      <origin xyz="-0.00112187608632448 -6.71933271821773e-05 0.0157188470383108" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.47e-06" ixy="0.0" ixz="3e-08" iyy="1.44e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger5_joint3" type="revolute">
+    <origin xyz="-0.00312502637316564 0.000100282626826854 0.0436176864544762" rpy="0 0 0.000268612717748753" />
+    <parent link="left_finger5_link2" />
+    <child link="left_finger5_link3" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4733" upper="1.5560" effort="0.2384" velocity="13.578" />
+  </joint>
+  <link name="left_finger5_link4">
+    <inertial>
+      <origin xyz="-0.000894376068463737 -8.29587184504807e-05 0.00535176561210726" rpy="0 0 0" />
+      <mass value="0.014" />
+      <inertia ixx="9.5e-07" ixy="0.0" ixz="1.4e-07" iyy="8.6e-07" iyz="-1e-08" izz="3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger5_joint4" type="revolute">
+    <origin xyz="0 0 0.0295000009963936" rpy="0 0 0" />
+    <parent link="left_finger5_link3" />
+    <child link="left_finger5_link4" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4662" upper="1.5760" effort="0.1866" velocity="12.863" />
+  </joint>
+  <link name="left_finger5_tip_link">
+    <inertial>
+      <origin xyz="0.000743020095030855 4.15556515511589e-06 -0.00585759127452531" rpy="0 0 0" />
+      <mass value="0.00318" />
+      <inertia ixx="2e-07" ixy="0.0" ixz="0.0" iyy="2.1e-07" iyz="0.0" izz="1.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/left/left_finger5_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_finger5_tip_fixed" type="fixed">
+    <origin xyz="-0.00200000001120192 -9.99999794204162E-05 0.0239466139607956" rpy="0 0 0" />
+    <parent link="left_finger5_link4" />
+    <child link="left_finger5_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="openarm_left_wuji_mount" type="fixed">
+    <parent link="openarm_left_link7" />
+    <child link="left_wuji_virtual_adapter" />
+    <origin xyz="0 0 0.04950055" rpy="0 0 0" />
+  </joint>
+  <link name="left_wuji_virtual_adapter">
+    <visual name="left_wuji_direct_adapter_mount_visual">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/visual/adapter/Direct-Adapter-Mount_openarm_link7_0_holes.obj" scale="0.001 -0.001 0.001" />
+      </geometry>
+      <material name="wuji_virtual_adapter_dark">
+        <color rgba="0.28 0.28 0.28 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="openarm_left_wuji_adapter_to_palm" type="fixed">
+    <parent link="left_wuji_virtual_adapter" />
+    <child link="left_palm_link" />
+    <origin xyz="-0.000564 0 0.030" rpy="0 0 1.5707963267948966" />
+  </joint>
+  <link name="right_palm_link">
+    <inertial>
+      <origin xyz="-0.0029795 0.00045572 0.036654" rpy="0 0 0" />
+      <mass value="0.16914" />
+      <inertia ixx="0.00014" ixy="2.54e-06" ixz="6.91e-06" iyy="9.47e-05" iyz="-6.63e-06" izz="6e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_palm_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_palm_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_finger1_link1">
+    <inertial>
+      <origin xyz="-0.0024628 -0.0014428 0.0077802" rpy="0 0 0" />
+      <mass value="0.0075" />
+      <inertia ixx="3.2e-07" ixy="-2e-08" ixz="0.0" iyy="3e-07" iyz="4e-08" izz="2.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger1_joint1" type="revolute">
+    <origin xyz="0.0085244 0.020575 0.028712" rpy="-1.328 -0.37161 -0.7307" />
+    <parent link="right_palm_link" />
+    <child link="right_finger1_link1" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="0.0368" upper="1.6125" effort="0.4452" velocity="8.58701992" />
+  </joint>
+  <link name="right_finger1_link2">
+    <inertial>
+      <origin xyz="0.0011196 -1.2405e-05 0.015663" rpy="0 0 0" />
+      <mass value="0.0248" />
+      <inertia ixx="2.76e-06" ixy="2e-08" ixz="1e-08" iyy="2.81e-06" iyz="2e-08" izz="6.8e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger1_joint2" type="revolute">
+    <origin xyz="-0.0047549 -0.0060191 0.014132" rpy="-0.57428 -0.23677 1.8034" />
+    <parent link="right_finger1_link1" />
+    <child link="right_finger1_link2" />
+    <axis xyz="-0 -1 -0" />
+    <limit lower="-0.1576" upper="0.9312" effort="0.4259" velocity="11.10029404" />
+  </joint>
+  <link name="right_finger1_link3">
+    <inertial>
+      <origin xyz="-0.0011235 -1.579e-05 0.013056" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.46e-06" ixy="0.0" ixz="-2e-08" iyy="1.42e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger1_joint3" type="revolute">
+    <origin xyz="0.00018873 -0.0009916 0.034664" rpy="0.049049 0.017311 -1.9085" />
+    <parent link="right_finger1_link2" />
+    <child link="right_finger1_link3" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4638" upper="1.5607" effort="0.1888" velocity="12.86307659" />
+  </joint>
+  <link name="right_finger1_link4">
+    <inertial>
+      <origin xyz="-0.0011922 0.00023589 0.0082118" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.18e-06" ixy="0.0" ixz="1.2e-07" iyy="1.25e-06" iyz="0.0" izz="5.1e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger1_joint4" type="revolute">
+    <origin xyz="0 -0.00025 0.0295" rpy="0 0 0" />
+    <parent link="right_finger1_link3" />
+    <child link="right_finger1_link4" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.4829" upper="1.5451" effort="0.1468" velocity="13.57866158" />
+  </joint>
+  <link name="right_finger1_tip_link">
+    <inertial>
+      <origin xyz="-0.00018237 -3.9481e-06 -0.0041777" rpy="0 0 0" />
+      <mass value="0.0041" />
+      <inertia ixx="5.5e-07" ixy="0.0" ixz="2e-08" iyy="5.2e-07" iyz="0.0" izz="2.7e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger1_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger1_tip_fixed" type="fixed">
+    <origin xyz="-0.0011048 0.00023218 0.0283" rpy="0 0 0" />
+    <parent link="right_finger1_link4" />
+    <child link="right_finger1_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_finger2_link1">
+    <inertial>
+      <origin xyz="-0.0013291 -3.2911e-08 0.00031987" rpy="0 0 0" />
+      <mass value="0.0032" />
+      <inertia ixx="8e-08" ixy="0.0" ixz="-3e-08" iyy="7e-08" iyz="0.0" izz="8e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger2_joint1" type="revolute">
+    <origin xyz="-0.0058701 0.029434 0.091917" rpy="-0.11071 -0.071139 -0.21822" />
+    <parent link="right_palm_link" />
+    <child link="right_finger2_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.1611" upper="1.5588" effort="0.6188" velocity="8.203047484" />
+  </joint>
+  <link name="right_finger2_link2">
+    <inertial>
+      <origin xyz="-0.0061577 -4.1189e-07 0.020911" rpy="0 0 0" />
+      <mass value="0.033" />
+      <inertia ixx="6.31e-06" ixy="0.0" ixz="-1.6e-07" iyy="6.34e-06" iyz="0.0" izz="8.9e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger2_joint2" type="revolute">
+    <origin xyz="0.0022 0 0.004" rpy="0 0 0" />
+    <parent link="right_finger2_link1" />
+    <child link="right_finger2_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.4044" upper="0.3054" effort="0.1822" velocity="8.115781022" />
+  </joint>
+  <link name="right_finger2_link3">
+    <inertial>
+      <origin xyz="-0.0011668 4.1873e-06 0.026893" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.47e-06" ixy="0.0" ixz="3e-08" iyy="1.44e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger2_joint3" type="revolute">
+    <origin xyz="-0.0047503 0 0.043618" rpy="0 0 -0.00026861" />
+    <parent link="right_finger2_link2" />
+    <child link="right_finger2_link3" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="-0.4714" upper="1.5504" effort="0.2251" velocity="12.86307659" />
+  </joint>
+  <link name="right_finger2_link4">
+    <inertial>
+      <origin xyz="-0.00089438 1.7042e-05 0.0053518" rpy="0 0 0" />
+      <mass value="0.014" />
+      <inertia ixx="9.5e-07" ixy="0.0" ixz="1.4e-07" iyy="8.6e-07" iyz="-1e-08" izz="3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger2_joint4" type="revolute">
+    <origin xyz="0 0 0.0295" rpy="0 0 0" />
+    <parent link="right_finger2_link3" />
+    <child link="right_finger2_link4" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="-0.4644" upper="1.5753" effort="0.2170" velocity="13.57866158" />
+  </joint>
+  <link name="right_finger2_tip_link">
+    <inertial>
+      <origin xyz="-0.00020111 3.8638e-06 -0.009311" rpy="0 0 0" />
+      <mass value="0.00318" />
+      <inertia ixx="2e-07" ixy="0.0" ixz="0.0" iyy="2.1e-07" iyz="0.0" izz="1.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger2_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger2_tip_fixed" type="fixed">
+    <origin xyz="-0.00105 0 0.0274" rpy="0 0 0" />
+    <parent link="right_finger2_link4" />
+    <child link="right_finger2_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_finger3_link1">
+    <inertial>
+      <origin xyz="-0.0013291 3.4987e-09 0.00031994" rpy="0 0 0" />
+      <mass value="0.0032" />
+      <inertia ixx="8e-08" ixy="0.0" ixz="-3e-08" iyy="7e-08" iyz="0.0" izz="8e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger3_joint1" type="revolute">
+    <origin xyz="-0.01046 0.0074615 0.089544" rpy="-5.0886E-05 -0.087266 0.00058387" />
+    <parent link="right_palm_link" />
+    <child link="right_finger3_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.1719" upper="1.5496" effort="0.6494" velocity="8.203047484" />
+  </joint>
+  <link name="right_finger3_link2">
+    <inertial>
+      <origin xyz="-0.0061576 -4.1651e-07 0.020911" rpy="0 0 0" />
+      <mass value="0.033" />
+      <inertia ixx="6.31e-06" ixy="0.0" ixz="-1.6e-07" iyy="6.34e-06" iyz="0.0" izz="8.9e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger3_joint2" type="revolute">
+    <origin xyz="0.0022 0 0.004" rpy="0 0 0" />
+    <parent link="right_finger3_link1" />
+    <child link="right_finger3_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.4014" upper="0.2996" effort="0.1827" velocity="8.115781022" />
+  </joint>
+  <link name="right_finger3_link3">
+    <inertial>
+      <origin xyz="-0.0011214 4.331e-06 0.015763" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.47e-06" ixy="0.0" ixz="3e-08" iyy="1.44e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger3_joint3" type="revolute">
+    <origin xyz="-0.00475 0 0.043618" rpy="0 0 -0.00026861" />
+    <parent link="right_finger3_link2" />
+    <child link="right_finger3_link3" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="-0.4632" upper="1.5613" effort="0.2078" velocity="12.86307659" />
+  </joint>
+  <link name="right_finger3_link4">
+    <inertial>
+      <origin xyz="-0.00089436 1.7049e-05 0.0053518" rpy="0 0 0" />
+      <mass value="0.014" />
+      <inertia ixx="9.5e-07" ixy="0.0" ixz="1.4e-07" iyy="8.6e-07" iyz="-1e-08" izz="3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger3_joint4" type="revolute">
+    <origin xyz="0 0 0.0295" rpy="0 0 0" />
+    <parent link="right_finger3_link3" />
+    <child link="right_finger3_link4" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="-0.4697" upper="1.5702" effort="0.2018" velocity="13.57866158" />
+  </joint>
+  <link name="right_finger3_tip_link">
+    <inertial>
+      <origin xyz="-0.00020328 1.4971e-06 -0.008611" rpy="0 0 0" />
+      <mass value="0.00318" />
+      <inertia ixx="2e-07" ixy="0.0" ixz="0.0" iyy="2.1e-07" iyz="0.0" izz="1.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger3_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger3_tip_fixed" type="fixed">
+    <origin xyz="-0.0010491 0 0.0267" rpy="0 0 0" />
+    <parent link="right_finger3_link4" />
+    <child link="right_finger3_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_finger4_link1">
+    <inertial>
+      <origin xyz="-0.0013291 1.0048e-08 0.00031995" rpy="0 0 0" />
+      <mass value="0.0032" />
+      <inertia ixx="8e-08" ixy="0.0" ixz="-3e-08" iyy="7e-08" iyz="0.0" izz="8e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger4_joint1" type="revolute">
+    <origin xyz="-0.0076649 -0.013712 0.084429" rpy="0.090375 -0.083436 0.047127" />
+    <parent link="right_palm_link" />
+    <child link="right_finger4_link1" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="-0.1601" upper="1.5534" effort="0.6389" velocity="8.203047484" />
+  </joint>
+  <link name="right_finger4_link2">
+    <inertial>
+      <origin xyz="-0.0061576 -4.1601e-07 0.020911" rpy="0 0 0" />
+      <mass value="0.033" />
+      <inertia ixx="6.31e-06" ixy="0.0" ixz="-1.6e-07" iyy="6.34e-06" iyz="0.0" izz="8.9e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger4_joint2" type="revolute">
+    <origin xyz="0.0022 0 0.004" rpy="0 0 0" />
+    <parent link="right_finger4_link1" />
+    <child link="right_finger4_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.4134" upper="0.3161" effort="0.1832" velocity="8.115781022" />
+  </joint>
+  <link name="right_finger4_link3">
+    <inertial>
+      <origin xyz="-0.0011214 4.3494e-06 0.015763" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.47e-06" ixy="0.0" ixz="3e-08" iyy="1.44e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger4_joint3" type="revolute">
+    <origin xyz="-0.00475 0 0.043618" rpy="0 0 -0.00026861" />
+    <parent link="right_finger4_link2" />
+    <child link="right_finger4_link3" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="-0.4782" upper="1.5448" effort="0.2249" velocity="12.86307659" />
+  </joint>
+  <link name="right_finger4_link4">
+    <inertial>
+      <origin xyz="-0.00089436 1.7058e-05 0.0053518" rpy="0 0 0" />
+      <mass value="0.014" />
+      <inertia ixx="9.5e-07" ixy="0.0" ixz="1.4e-07" iyy="8.6e-07" iyz="-1e-08" izz="3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger4_joint4" type="revolute">
+    <origin xyz="0 0 0.0295" rpy="0 0 0" />
+    <parent link="right_finger4_link3" />
+    <child link="right_finger4_link4" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="-0.4825" upper="1.5550" effort="0.2044" velocity="13.57866158" />
+  </joint>
+  <link name="right_finger4_tip_link">
+    <inertial>
+      <origin xyz="-0.00020322 1.528e-06 -0.0086106" rpy="0 0 0" />
+      <mass value="0.00318" />
+      <inertia ixx="2e-07" ixy="0.0" ixz="0.0" iyy="2.1e-07" iyz="0.0" izz="1.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger4_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger4_tip_fixed" type="fixed">
+    <origin xyz="-0.0010528 0 0.0267" rpy="0 0 0" />
+    <parent link="right_finger4_link4" />
+    <child link="right_finger4_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_finger5_link1">
+    <inertial>
+      <origin xyz="-0.0013291 1.7235e-08 0.00031997" rpy="0 0 0" />
+      <mass value="0.0032" />
+      <inertia ixx="8e-08" ixy="0.0" ixz="-3e-08" iyy="7e-08" iyz="0.0" izz="8e-08" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger5_joint1" type="revolute">
+    <origin xyz="-0.0022687 -0.034001 0.074281" rpy="0.19248 -0.092517 0.15767" />
+    <parent link="right_palm_link" />
+    <child link="right_finger5_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.1674" upper="1.5539" effort="0.6441" velocity="8.203047484" />
+  </joint>
+  <link name="right_finger5_link2">
+    <inertial>
+      <origin xyz="-0.0061576 -4.1475e-07 0.020911" rpy="0 0 0" />
+      <mass value="0.033" />
+      <inertia ixx="6.31e-06" ixy="0.0" ixz="-1.6e-07" iyy="6.34e-06" iyz="0.0" izz="8.9e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger5_joint2" type="revolute">
+    <origin xyz="0.0022 0 0.004" rpy="0 0 0" />
+    <parent link="right_finger5_link1" />
+    <child link="right_finger5_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.4203" upper="0.2931" effort="0.1798" velocity="8.115781022" />
+  </joint>
+  <link name="right_finger5_link3">
+    <inertial>
+      <origin xyz="-0.0011214 4.3703e-06 0.015763" rpy="0 0 0" />
+      <mass value="0.0165" />
+      <inertia ixx="1.47e-06" ixy="0.0" ixz="3e-08" iyy="1.44e-06" iyz="0.0" izz="4.5e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_link3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger5_joint3" type="revolute">
+    <origin xyz="-0.00475 0 0.043618" rpy="0 0 -0.00026861" />
+    <parent link="right_finger5_link2" />
+    <child link="right_finger5_link3" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="-0.4804" upper="1.5420" effort="0.2384" velocity="12.86307659" />
+  </joint>
+  <link name="right_finger5_link4">
+    <inertial>
+      <origin xyz="-0.00089437 1.7063e-05 0.0053518" rpy="0 0 0" />
+      <mass value="0.014" />
+      <inertia ixx="9.5e-07" ixy="0.0" ixz="1.4e-07" iyy="8.6e-07" iyz="-1e-08" izz="3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_link4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger5_joint4" type="revolute">
+    <origin xyz="0 0 0.0295" rpy="0 0 0" />
+    <parent link="right_finger5_link3" />
+    <child link="right_finger5_link4" />
+    <axis xyz="-0 1 -0" />
+    <limit lower="-0.4705" upper="1.5709" effort="0.1866" velocity="13.57866158" />
+  </joint>
+  <link name="right_finger5_tip_link">
+    <inertial>
+      <origin xyz="-0.00020332 1.4872e-06 -0.0086111" rpy="0 0 0" />
+      <mass value="0.00318" />
+      <inertia ixx="2e-07" ixy="0.0" ixz="0.0" iyy="2.1e-07" iyz="0.0" izz="1.3e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_tip_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../wuji_hand_description/meshes/right/right_finger5_tip_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_finger5_tip_fixed" type="fixed">
+    <origin xyz="-0.0010446 1.1308E-05 0.0267" rpy="0 0 0" />
+    <parent link="right_finger5_link4" />
+    <child link="right_finger5_tip_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="openarm_right_wuji_mount" type="fixed">
+    <parent link="openarm_right_link7" />
+    <child link="right_wuji_virtual_adapter" />
+    <origin xyz="0 0 0.04950055" rpy="0 0 0" />
+  </joint>
+  <link name="right_wuji_virtual_adapter">
+    <visual name="right_wuji_direct_adapter_mount_visual">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/visual/adapter/Direct-Adapter-Mount_openarm_link7_0_holes.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="wuji_virtual_adapter_dark">
+        <color rgba="0.28 0.28 0.28 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="openarm_right_wuji_adapter_to_palm" type="fixed">
+    <parent link="right_wuji_virtual_adapter" />
+    <child link="right_palm_link" />
+    <origin xyz="-0.000564 0 0.030" rpy="0 0 -1.5707963267948966" />
+  </joint>
+</robot>
diff --git a/robots/openarm_wuji/openarm_wuji.usd b/robots/openarm_wuji/openarm_wuji.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c34ef9c8f5d69cdabe8e4a2cae65285e9ecccb93
--- /dev/null
+++ b/robots/openarm_wuji/openarm_wuji.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da739e5563b848b52ba221bc9180f8f694290367d66b3fa5a19e733d09527c86
+size 95308978
diff --git a/robots/openarm_wuji/openarm_wuji.xml b/robots/openarm_wuji/openarm_wuji.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fcbc058f9631496a48f847f745124f09a13c5b9f
--- /dev/null
+++ b/robots/openarm_wuji/openarm_wuji.xml
@@ -0,0 +1,751 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="openarm_wuji">
+  <compiler angle="radian" meshdir="." balanceinertia="true" />
+  <option timestep="0.001" iterations="50" solver="PGS" gravity="0 0 -9.81" impratio="10" noslip_iterations="3" cone="elliptic" />
+  <size njmax="2000" nconmax="500" />
+  <default>
+    <default class="robot">
+      <default class="motor">
+        <joint damping="0" frictionloss="0.02" />
+        <motor ctrlrange="-10 10" />
+        <default class="DM8009">
+          <joint armature="0.015" />
+          <motor ctrlrange="-54 54" />
+        </default>
+        <default class="DM4340">
+          <joint armature="0.032" />
+          <motor ctrlrange="-28 28" />
+        </default>
+        <default class="DM4310">
+          <joint armature="0.000353" />
+          <motor ctrlrange="-10 10" />
+        </default>
+      </default>
+      <default class="collision">
+        <geom material="collision_material" condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
+        <equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
+      </default>
+      <default class="visual">
+        <geom material="visualgeom" contype="0" conaffinity="0" group="2" />
+      </default>
+    </default>
+    <default class="hand">
+      <joint armature="0.005" damping="0.05" frictionloss="0.01" />
+    </default>
+  </default>
+  <asset>
+    <material name="default_material" rgba="0.7 0.7 0.7 1" />
+    <material name="collision_material" rgba="1.0 0.28 0.1 0.9" />
+    <mesh name="body_collision" file="../openarm_description/meshes/body/v10/collision/body_link0_symp.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link0_collision" file="../openarm_description/meshes/arm/v10/collision/link0_symp.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link0_collision_left" file="../openarm_description/meshes/arm/v10/collision/link0_symp.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link1_collision" file="../openarm_description/meshes/arm/v10/collision/link1_symp.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link1_collision_left" file="../openarm_description/meshes/arm/v10/collision/link1_symp.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link2_collision" file="../openarm_description/meshes/arm/v10/collision/link2_symp.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link2_collision_left" file="../openarm_description/meshes/arm/v10/collision/link2_symp.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link3_collision" file="../openarm_description/meshes/arm/v10/collision/link3_symp.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link3_collision_left" file="../openarm_description/meshes/arm/v10/collision/link3_symp.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link4_collision" file="../openarm_description/meshes/arm/v10/collision/link4_symp.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link5_collision" file="../openarm_description/meshes/arm/v10/collision/link5_symp.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link5_collision_left" file="../openarm_description/meshes/arm/v10/collision/link5_symp.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link6_collision" file="../openarm_description/meshes/arm/v10/collision/link6_symp.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link6_collision_left" file="../openarm_description/meshes/arm/v10/collision/link6_symp.stl" scale="0.001 -0.001 0.001" />
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+    <mesh name="wuji_direct_adapter_mount_left" file="meshes/visual/adapter/Direct-Adapter-Mount_openarm_link7_0_holes.obj" scale="0.001 -0.001 0.001" />
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+    <mesh name="left_hand_finger1_link1" content_type="model/stl" file="../wuji_hand_description/meshes/left/left_finger1_link1.STL" />
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+    <mesh name="left_hand_finger1_link2" content_type="model/stl" file="../wuji_hand_description/meshes/left/left_finger1_link2.STL" />
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+    <mesh name="right_hand_finger5_link3_collision" content_type="model/stl" file="../wuji_hand_description/meshes/right/right_finger5_link3.STL" />
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+    <mesh name="right_hand_finger5_tip_link_collision" content_type="model/stl" file="../wuji_hand_description/meshes/right/right_finger5_tip_link.STL" />
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+      <geom name="openarm_body_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0561" type="mesh" mesh="body_link0_0.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_link7_white" type="mesh" mesh="body_link0_1.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_2" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0796" type="mesh" mesh="body_link0_2.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_3" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="body_link0_3.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_4" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0627" type="mesh" mesh="body_link0_4.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_5" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0247" type="mesh" mesh="body_link0_5.obj" class="visual" />
+      <body name="openarm_left_link0" pos="0.0 0.031 0.698" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
+        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
+        <geom name="openarm_left_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link0_collision_left" class="collision" />
+        <geom name="openarm_left_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0800" type="mesh" mesh="link0_0.obj" class="visual" />
+        <geom name="openarm_left_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link0_1.obj" class="visual" />
+        <body name="openarm_left_link1" pos="0.0 0.0 0.0625" quat="1.0 0.0 0.0 0.0">
+          <joint name="openarm_left_joint1" type="hinge" ref="0.0" class="DM8009" range="-3.490659 1.3962629999999998" axis="0 0 1" />
+          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298" diaginertia="0.001567 0.001273 0.001016" />
+          <geom name="openarm_left_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1_collision_left" class="collision" />
+          <geom name="openarm_left_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="openarm_black" type="mesh" mesh="link1_0.obj" class="visual" />
+          <geom name="openarm_left_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link1_2.obj" class="visual" />
+          <geom name="openarm_left_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0247" type="mesh" mesh="link1_3.obj" class="visual" />
+          <body name="openarm_left_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
+            <joint name="openarm_left_joint2" type="hinge" ref="0.0" class="DM8009" range="-3.3161253267948965 0.17453267320510335" axis="-1 0 0" />
+            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571" diaginertia="0.000359 0.000376 0.000232" />
+            <geom name="openarm_left_link2_collision" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision_left" class="collision" />
+            <geom name="openarm_left_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0627" type="mesh" mesh="link2_0.obj" class="visual" />
+            <geom name="openarm_left_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link2_1.obj" class="visual" />
+            <geom name="openarm_left_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0247" type="mesh" mesh="link2_2.obj" class="visual" />
+            <body name="openarm_left_link3" pos="0.0301 0.0 0.06625" quat="1.0 0.0 0.0 0.0">
+              <joint name="openarm_left_joint3" type="hinge" ref="0.0" class="DM4340" range="-1.570796 1.570796" axis="0 0 1" />
+              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961" quat="1.0 0.0 0.0 0.0" mass="1.073863338202347" diaginertia="0.004372 0.004319 0.000661" />
+              <geom name="openarm_left_link3_collision" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision_left" class="collision" />
+              <geom name="openarm_left_link3_visual_0" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link3_0.obj" class="visual" />
+              <geom name="openarm_left_link3_visual_1" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="openarm_black" type="mesh" mesh="link3_1.obj" class="visual" />
+              <geom name="openarm_left_link3_visual_2" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link3_2.obj" class="visual" />
+              <body name="openarm_left_link4" pos="-0.0 0.0315 0.15375" quat="1.0 0.0 0.0 0.0">
+                <joint name="openarm_left_joint4" type="hinge" ref="0.0" class="DM4340" range="0.0 2.443461" axis="0 1 0" />
+                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" quat="1.0 0.0 0.0 0.0" mass="1.3699337287025453" diaginertia="0.001577 0.001346 0.001104" />
+                <geom name="openarm_left_link4_collision" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
+                <geom name="openarm_left_link4_visual_0" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link4_0.obj" class="visual" />
+                <geom name="openarm_left_link4_visual_1" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link4_1.obj" class="visual" />
+                <geom name="openarm_left_link4_visual_2" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="openarm_black" type="mesh" mesh="link4_2.obj" class="visual" />
+                <body name="openarm_left_link5" pos="0.0 -0.0315 0.0955" quat="1.0 0.0 0.0 0.0">
+                  <joint name="openarm_left_joint5" type="hinge" ref="0.0" class="DM4310" range="-1.570796 1.570796" axis="0 0 1" />
+                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" quat="1.0 0.0 0.0 0.0" mass="0.5506588026168502" diaginertia="0.000423 0.000445 0.000324" />
+                  <geom name="openarm_left_link5_collision" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision_left" class="collision" />
+                  <geom name="openarm_left_link5_visual_0" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link5_0.obj" class="visual" />
+                  <geom name="openarm_left_link5_visual_1" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link5_1.obj" class="visual" />
+                  <geom name="openarm_left_link5_visual_2" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="openarm_black" type="mesh" mesh="link5_2.obj" class="visual" />
+                  <body name="openarm_left_link6" pos="0.0375 0.0 0.1205" quat="1.0 0.0 0.0 0.0">
+                    <joint name="openarm_left_joint6" type="hinge" ref="0.0" class="DM4310" range="-0.785398 0.785398" axis="1 0 0" />
+                    <inertial pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" quat="1.0 0.0 0.0 0.0" mass="0.3540202773187987" diaginertia="0.000143 0.000157 0.000159" />
+                    <geom name="openarm_left_link6_collision" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision_left" class="collision" />
+                    <geom name="openarm_left_link6_visual_0" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link6_0_left.obj" class="visual" />
+                    <geom name="openarm_left_link6_visual_1" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link6_1_left.obj" class="visual" />
+                    <body name="openarm_left_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
+                      <joint name="openarm_left_joint7" type="hinge" ref="0.0" class="DM4310" range="-1.570796 1.570796" axis="0 -1 0" />
+                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448" quat="1.0 0.0 0.0 0.0" mass="0.5499771327380578" diaginertia="0.000639 0.000497 0.000342" />
+                      <geom name="openarm_left_link7_collision" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision_left" class="collision" />
+                      <geom name="openarm_left_link7_visual_0" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="openarm_link7_white" type="mesh" mesh="link7_0_left.obj" class="visual" />
+                      <body name="left_wuji_virtual_adapter" pos="0 0 0.04950055" quat="1 0 0 0">
+                        <geom name="left_wuji_direct_adapter_mount_visual" type="mesh" mesh="wuji_direct_adapter_mount_left" contype="0" conaffinity="0" group="1" density="0" rgba="0.28 0.28 0.28 1" />
+                        <body name="left_hand_palm_link" pos="-0.000564 0 0.030" quat="0.7071068 0 0 0.7071068" childclass="hand">
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_palm_link" />
+                          <geom class="collision" mesh="left_hand_palm_link_collision" />
+                          <body name="left_hand_finger1_link1" pos="0.00843985 -0.0205866 0.0288928" quat="0.15784179 -0.14833545 0.66856524 0.71140884">
+                            <inertial pos="-0.00312584 0.00124335 -0.00755623" quat="0.904243 0.21652 0.0443878 -0.365368" mass="0.0075" diaginertia="3.37599e-07 3.01198e-07 2.11203e-07" />
+                            <joint name="left_finger1_joint1" pos="0 0 0" axis="0 1 0" range="0.0583 1.5941" actuatorfrcrange="-0.6 0.6" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger1_link1" />
+                            <geom class="collision" mesh="left_hand_finger1_link1_collision" />
+                            <body name="left_hand_finger1_link2" pos="-0.0054483 0.0058191 -0.01388" quat="0.678684 0.174096 -0.067811 0.710268">
+                              <inertial pos="-0.00142783 1.46615e-05 -0.0156343" quat="0.815906 0.0024483 -0.00462559 0.57816" mass="0.0248" diaginertia="2.81725e-06 2.75299e-06 6.79766e-07" />
+                              <joint name="left_finger1_joint2" pos="0 0 0" axis="0 -1 0" range="-0.1199 0.9335" actuatorfrcrange="-0.6 0.6" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger1_link2" />
+                              <geom class="collision" mesh="left_hand_finger1_link2_collision" />
+                              <body name="left_hand_finger1_link3" pos="-0.000846961 0.000991504 -0.0346563" quat="0.577941 0.0144097 -0.0101665 -0.815888">
+                                <inertial pos="0.0011232 1.573e-05 -0.0130566" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07" />
+                                <joint name="left_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4646 1.5639" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger1_link3" />
+                                <geom class="collision" mesh="left_hand_finger1_link3_collision" />
+                                <body name="left_hand_finger1_link4" pos="0 0 -0.0295">
+                                  <inertial pos="0.00143098 2.14273e-05 -0.0111038" quat="0.706889 -0.0413139 -0.0421609 0.704858" mass="0.0206" diaginertia="2.46834e-06 2.44702e-06 7.6132e-07" />
+                                  <joint name="left_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.457 1.5684" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger1_link4" />
+                                  <geom class="collision" mesh="left_hand_finger1_link4_collision" />
+                                  <geom pos="0.00105 0 -0.0235" quat="0 0 -1 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger1_tip_link" />
+                                  <geom pos="0.00105 0 -0.0235" quat="0 0 -1 0" class="collision" mesh="left_hand_finger1_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="left_hand_finger2_link1" pos="-0.00587009 -0.0294339 0.091917" quat="0.99210054 0.05625692 -0.00634791 0.11194632">
+                            <inertial pos="-0.00134244 -5.65576e-09 0.000258175" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08" />
+                            <joint name="left_finger2_joint1" pos="0 0 0" axis="0 1 0" range="-0.156 1.5619" actuatorfrcrange="-1 1" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger2_link1" />
+                            <geom class="collision" mesh="left_hand_finger2_link1_collision" />
+                            <body name="left_hand_finger2_link2" pos="0.00038954 0 0.0040223" quat="0.999733 0 -0.0231118 0">
+                              <inertial pos="-0.00453252 4.38298e-07 0.020911" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
+                              <joint name="left_finger2_joint2" pos="0 0 0" axis="-1 0 0" range="-0.4095 0.2921" actuatorfrcrange="-0.2 0.2" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger2_link2" />
+                              <geom class="collision" mesh="left_hand_finger2_link2_collision" />
+                              <body name="left_hand_finger2_link3" pos="-0.00312503 0.000100282 0.0436177" quat="1 0 0 0.000134306">
+                                <inertial pos="-0.00112187 -6.72383e-05 0.0157188" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
+                                <joint name="left_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4839 1.5466" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger2_link3" />
+                                <geom class="collision" mesh="left_hand_finger2_link3_collision" />
+                                <body name="left_hand_finger2_link4" pos="0 0 0.0295">
+                                  <inertial pos="-0.000577493 -0.000439345 0.0077094" quat="0.996472 0.0222479 -0.0379654 0.0714678" mass="0.01718" diaginertia="1.58791e-06 1.49887e-06 4.38452e-07" />
+                                  <joint name="left_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4723 1.5754" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger2_link4" />
+                                  <geom class="collision" mesh="left_hand_finger2_link4_collision" />
+                                  <geom pos="-0.002 -0.0001 0.0239466" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger2_tip_link" />
+                                  <geom pos="-0.002 -0.0001 0.0239466" class="collision" mesh="left_hand_finger2_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="left_hand_finger3_link1" pos="-0.01046 -0.0074615 0.089544" quat="1.00000034 2.535e-05 -1e-08 -0.00028991">
+                            <inertial pos="-0.0013519 -1.49581e-08 0.000202846" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08" />
+                            <joint name="left_finger3_joint1" pos="0 0 0" axis="0 1 0" range="-0.1569 1.5536" actuatorfrcrange="-1 1" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger3_link1" />
+                            <geom class="collision" mesh="left_hand_finger3_link1_collision" />
+                            <body name="left_hand_finger3_link2" pos="0.000224189 0 0.0040349" quat="0.999048 0 -0.0436194 0">
+                              <inertial pos="-0.0063378 3.07421e-06 0.0204364" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
+                              <joint name="left_finger3_joint2" pos="0 0 0" axis="-1 0 0" range="-0.3977 0.3115" actuatorfrcrange="-0.2 0.2" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger3_link2" />
+                              <geom class="collision" mesh="left_hand_finger3_link2_collision" />
+                              <body name="left_hand_finger3_link3" pos="-0.00312503 0.000100283 0.0436177" quat="1 0 0 0.000134306">
+                                <inertial pos="-0.00112187 -6.72196e-05 0.0157188" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
+                                <joint name="left_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4847 1.5411" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger3_link3" />
+                                <geom class="collision" mesh="left_hand_finger3_link3_collision" />
+                                <body name="left_hand_finger3_link4" pos="0 0 0.0295">
+                                  <inertial pos="-0.000569212 -0.000437935 0.00770941" quat="0.99642 0.0221379 -0.0373581 0.0725293" mass="0.01718" diaginertia="1.58767e-06 1.49921e-06 4.39012e-07" />
+                                  <joint name="left_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4671 1.5788" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger3_link4" />
+                                  <geom class="collision" mesh="left_hand_finger3_link4_collision" />
+                                  <geom pos="-0.002 -0.0001 0.0239466" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger3_tip_link" />
+                                  <geom pos="-0.002 -0.0001 0.0239466" class="collision" mesh="left_hand_finger3_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="left_hand_finger4_link1" pos="-0.0076649 0.013712 0.084429" quat="0.99861299 -0.04499745 0.00123051 -0.02730846">
+                            <inertial pos="-0.00135119 -9.65326e-09 0.000207529" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08" />
+                            <joint name="left_finger4_joint1" pos="0 0 0" axis="0 1 0" range="-0.1507 1.5636" actuatorfrcrange="-1 1" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger4_link1" />
+                            <geom class="collision" mesh="left_hand_finger4_link1_collision" />
+                            <body name="left_hand_finger4_link2" pos="0.000238272 0 0.00403409" quat="0.999123 0 -0.0418757 0">
+                              <inertial pos="-0.00452747 0.000214165 0.020911" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
+                              <joint name="left_finger4_joint2" pos="0 0 0" axis="-1 0 0" range="-0.4101 0.3014" actuatorfrcrange="-0.2 0.2" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger4_link2" />
+                              <geom class="collision" mesh="left_hand_finger4_link2_collision" />
+                              <body name="left_hand_finger4_link3" pos="-0.00312503 0.000100282 0.0436177" quat="1 0 0 0.000134312">
+                                <inertial pos="-0.00112188 -6.72061e-05 0.0157188" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
+                                <joint name="left_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4747 1.5526" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger4_link3" />
+                                <geom class="collision" mesh="left_hand_finger4_link3_collision" />
+                                <body name="left_hand_finger4_link4" pos="0 0 0.0295">
+                                  <inertial pos="-0.000569623 -0.000441093 0.00770942" quat="0.996378 0.022381 -0.0374127 0.0730138" mass="0.01718" diaginertia="1.58788e-06 1.49922e-06 4.39096e-07" />
+                                  <joint name="left_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4729 1.5718" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger4_link4" />
+                                  <geom class="collision" mesh="left_hand_finger4_link4_collision" />
+                                  <geom pos="-0.002 -0.0001 0.0239466" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger4_tip_link" />
+                                  <geom pos="-0.002 -0.0001 0.0239466" class="collision" mesh="left_hand_finger4_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="left_hand_finger5_link1" pos="-0.00226865 0.0340011 0.074281" quat="0.99157516 -0.09530972 0.00839343 -0.08732274">
+                            <inertial pos="-0.00135329 -2.35789e-08 0.000193347" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08" />
+                            <joint name="left_finger5_joint1" pos="0 0 0" axis="0 1 0" range="-0.1578 1.5632" actuatorfrcrange="-1 1" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger5_link1" />
+                            <geom class="collision" mesh="left_hand_finger5_link1_collision" />
+                            <body name="left_hand_finger5_link2" pos="0.000196015 0 0.00403637" quat="0.99889 0 -0.0471065 0">
+                              <inertial pos="-0.00453253 4.36745e-07 0.020911" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07" />
+                              <joint name="left_finger5_joint2" pos="0 0 0" axis="-1 0 0" range="-0.4103 0.2949" actuatorfrcrange="-0.2 0.2" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger5_link2" />
+                              <geom class="collision" mesh="left_hand_finger5_link2_collision" />
+                              <body name="left_hand_finger5_link3" pos="-0.00312503 0.000100283 0.0436177" quat="1 0 0 0.000134306">
+                                <inertial pos="-0.00112188 -6.71933e-05 0.0157188" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07" />
+                                <joint name="left_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4733 1.556" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger5_link3" />
+                                <geom class="collision" mesh="left_hand_finger5_link3_collision" />
+                                <body name="left_hand_finger5_link4" pos="0 0 0.0295">
+                                  <inertial pos="-0.000572786 -0.000437032 0.00770942" quat="0.996465 0.0220675 -0.0376073 0.0718051" mass="0.01718" diaginertia="1.58768e-06 1.49906e-06 4.38715e-07" />
+                                  <joint name="left_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4662 1.576" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger5_link4" />
+                                  <geom class="collision" mesh="left_hand_finger5_link4_collision" />
+                                  <geom pos="-0.002 -0.0001 0.0239466" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="left_hand_finger5_tip_link" />
+                                  <geom pos="-0.002 -0.0001 0.0239466" class="collision" mesh="left_hand_finger5_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="openarm_right_link0" pos="0.0 -0.031 0.698" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
+        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
+        <geom name="openarm_right_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link0_collision" class="collision" />
+        <geom name="openarm_right_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0800" type="mesh" mesh="link0_0.obj" class="visual" />
+        <geom name="openarm_right_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link0_1.obj" class="visual" />
+        <body name="openarm_right_link1" pos="0.0 0.0 0.0625" quat="1.0 0.0 0.0 0.0">
+          <joint name="openarm_right_joint1" type="hinge" ref="0.0" class="DM8009" range="-1.396263 3.490659" axis="0 0 1" />
+          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298" diaginertia="0.001567 0.001273 0.001016" />
+          <geom name="openarm_right_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1_collision" class="collision" />
+          <geom name="openarm_right_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="openarm_black" type="mesh" mesh="link1_0.obj" class="visual" />
+          <geom name="openarm_right_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link1_2.obj" class="visual" />
+          <geom name="openarm_right_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0247" type="mesh" mesh="link1_3.obj" class="visual" />
+          <body name="openarm_right_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
+            <joint name="openarm_right_joint2" type="hinge" ref="0.0" class="DM8009" range="-0.17453267320510335 3.3161253267948965" axis="-1 0 0" />
+            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571" diaginertia="0.000359 0.000376 0.000232" />
+            <geom name="openarm_right_link2_collision" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision" class="collision" />
+            <geom name="openarm_right_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0627" type="mesh" mesh="link2_0.obj" class="visual" />
+            <geom name="openarm_right_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link2_1.obj" class="visual" />
+            <geom name="openarm_right_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="openarm_gray_0247" type="mesh" mesh="link2_2.obj" class="visual" />
+            <body name="openarm_right_link3" pos="0.0301 0.0 0.06625" quat="1.0 0.0 0.0 0.0">
+              <joint name="openarm_right_joint3" type="hinge" ref="0.0" class="DM4340" range="-1.570796 1.570796" axis="0 0 1" />
+              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961" quat="1.0 0.0 0.0 0.0" mass="1.073863338202347" diaginertia="0.004372 0.004319 0.000661" />
+              <geom name="openarm_right_link3_collision" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision" class="collision" />
+              <geom name="openarm_right_link3_visual_0" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link3_0.obj" class="visual" />
+              <geom name="openarm_right_link3_visual_1" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="openarm_black" type="mesh" mesh="link3_1.obj" class="visual" />
+              <geom name="openarm_right_link3_visual_2" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link3_2.obj" class="visual" />
+              <body name="openarm_right_link4" pos="-0.0 0.0315 0.15375" quat="1.0 0.0 0.0 0.0">
+                <joint name="openarm_right_joint4" type="hinge" ref="0.0" class="DM4340" range="0.0 2.443461" axis="0 1 0" />
+                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" quat="1.0 0.0 0.0 0.0" mass="1.3699337287025453" diaginertia="0.001577 0.001346 0.001104" />
+                <geom name="openarm_right_link4_collision" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
+                <geom name="openarm_right_link4_visual_0" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link4_0.obj" class="visual" />
+                <geom name="openarm_right_link4_visual_1" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link4_1.obj" class="visual" />
+                <geom name="openarm_right_link4_visual_2" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="openarm_black" type="mesh" mesh="link4_2.obj" class="visual" />
+                <body name="openarm_right_link5" pos="0.0 -0.0315 0.0955" quat="1.0 0.0 0.0 0.0">
+                  <joint name="openarm_right_joint5" type="hinge" ref="0.0" class="DM4310" range="-1.570796 1.570796" axis="0 0 1" />
+                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" quat="1.0 0.0 0.0 0.0" mass="0.5506588026168502" diaginertia="0.000423 0.000445 0.000324" />
+                  <geom name="openarm_right_link5_collision" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision" class="collision" />
+                  <geom name="openarm_right_link5_visual_0" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link5_0.obj" class="visual" />
+                  <geom name="openarm_right_link5_visual_1" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link5_1.obj" class="visual" />
+                  <geom name="openarm_right_link5_visual_2" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="openarm_black" type="mesh" mesh="link5_2.obj" class="visual" />
+                  <body name="openarm_right_link6" pos="0.0375 0.0 0.1205" quat="1.0 0.0 0.0 0.0">
+                    <joint name="openarm_right_joint6" type="hinge" ref="0.0" class="DM4310" range="-0.785398 0.785398" axis="1 0 0" />
+                    <inertial pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" quat="1.0 0.0 0.0 0.0" mass="0.3540202773187987" diaginertia="0.000143 0.000157 0.000159" />
+                    <geom name="openarm_right_link6_collision" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision" class="collision" />
+                    <geom name="openarm_right_link6_visual_0" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="openarm_dark" type="mesh" mesh="link6_0.obj" class="visual" />
+                    <geom name="openarm_right_link6_visual_1" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="openarm_white" type="mesh" mesh="link6_1.obj" class="visual" />
+                    <body name="openarm_right_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
+                      <joint name="openarm_right_joint7" type="hinge" ref="0.0" class="DM4310" range="-1.570796 1.570796" axis="0 1 0" />
+                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448" quat="1.0 0.0 0.0 0.0" mass="0.5499771327380578" diaginertia="0.000639 0.000497 0.000342" />
+                      <geom name="openarm_right_link7_collision" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision" class="collision" />
+                      <geom name="openarm_right_link7_visual_0" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="openarm_link7_white" type="mesh" mesh="link7_0.obj" class="visual" />
+                      <body name="right_wuji_virtual_adapter" pos="0 0 0.04950055" quat="1 0 0 0">
+                        <geom name="right_wuji_direct_adapter_mount_visual" type="mesh" mesh="wuji_direct_adapter_mount" contype="0" conaffinity="0" group="1" density="0" rgba="0.28 0.28 0.28 1" />
+                        <body name="right_hand_palm_link" pos="-0.000564 0 0.030" quat="0.7071068 0 0 -0.7071068" childclass="hand">
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_palm_link" />
+                          <geom class="collision" mesh="right_hand_palm_link_collision" />
+                          <body name="right_hand_finger1_link1" pos="0.0085244 0.020575 0.028712" quat="0.682219 -0.617669 0.0805047 -0.382859">
+                            <inertial pos="-0.0024628 -0.0014428 0.0077802" quat="0.924531 0.222827 0.0390606 -0.306701" mass="0.0075" diaginertia="1.48405e-07 1.33799e-07 9.42758e-08" />
+                            <joint name="right_finger1_joint1" pos="0 0 0" axis="0 1 0" range="-0.0448 1.6508" actuatorfrcrange="-0.6 0.6" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger1_link1" />
+                            <geom class="collision" mesh="right_hand_finger1_link1_collision" />
+                            <body name="right_hand_finger1_link2" pos="-0.0047549 -0.0060191 0.014132" quat="0.616955 -0.0855901 -0.290851 0.726255">
+                              <inertial pos="0.0011196 -1.2405e-05 0.015663" quat="0.7968 0.000773704 -0.00574143 0.604216" mass="0.0248" diaginertia="1.69711e-06 1.65556e-06 4.09999e-07" />
+                              <joint name="right_finger1_joint2" pos="0 0 0" axis="0 -1 0" range="-0.1659 0.9339" actuatorfrcrange="-0.6 0.6" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger1_link2" />
+                              <geom class="collision" mesh="right_hand_finger1_link2_collision" />
+                              <body name="right_hand_finger1_link3" pos="0.00018873 -0.0009916 0.034664" quat="0.577852 0.0212383 -0.0150031 -0.815727">
+                                <inertial pos="-0.0011235 -1.579e-05 0.013056" quat="0.999939 -0.00066179 0.010989 0.000796896" mass="0.0165" diaginertia="1.09847e-06 1.0736e-06 3.38802e-07" />
+                                <joint name="right_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger1_link3" />
+                                <geom class="collision" mesh="right_hand_finger1_link3_collision" />
+                                <body name="right_hand_finger1_link4" pos="0 -0.00025 0.0295">
+                                  <inertial pos="-0.00273143 0.00012395 0.0110404" quat="0.669923 -0.143198 -0.155186 0.711769" mass="0.0205" diaginertia="1.44365e-06 1.40141e-06 4.15557e-07" />
+                                  <joint name="right_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger1_link4" />
+                                  <geom class="collision" mesh="right_hand_finger1_link4_collision" />
+                                  <geom pos="-0.0011048 0.00023218 0.0283" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger1_tip_link" />
+                                  <geom pos="-0.0011048 0.00023218 0.0283" class="collision" mesh="right_hand_finger1_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="right_hand_finger2_link1" pos="-0.0058701 0.029434 0.091917" quat="0.991689 -0.0588295 -0.0292755 -0.110614">
+                            <inertial pos="-0.0013291 -3.2911e-08 0.00031987" quat="0.934668 0 0.355522 0" mass="0.0032" diaginertia="3.3526e-08 2.2948e-08 1.7331e-08" />
+                            <joint name="right_finger2_joint1" pos="0 0 0" axis="0 1 0" range="-0.32695 1.63595" actuatorfrcrange="-1 1" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger2_link1" />
+                            <geom class="collision" mesh="right_hand_finger2_link1_collision" />
+                            <body name="right_hand_finger2_link2" pos="0.0022 0 0.004">
+                              <inertial pos="-0.0061577 -4.1189e-07 0.020911" quat="0.706353 0.0103386 0.0102895 0.707709" mass="0.033" diaginertia="4.0532e-06 4.04146e-06 5.6306e-07" />
+                              <joint name="right_finger2_joint2" pos="0 0 0" axis="-1 0 0" range="-0.495 0.495" actuatorfrcrange="-0.2 0.2" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger2_link2" />
+                              <geom class="collision" mesh="right_hand_finger2_link2_collision" />
+                              <body name="right_hand_finger2_link3" pos="-0.0047503 0 0.043618" quat="1 0 0 -0.000134305">
+                                <inertial pos="-0.0011668 4.1873e-06 0.026893" quat="0.999788 0.000532551 -0.0205741 0.000645438" mass="0.0165" diaginertia="1.34373e-06 1.3154e-06 5.01203e-07" />
+                                <joint name="right_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger2_link3" />
+                                <geom class="collision" mesh="right_hand_finger2_link3_collision" />
+                                <body name="right_hand_finger2_link4" pos="0 0 0.0295">
+                                  <inertial pos="-0.00181752 1.97511e-05 0.00809078" quat="0.988765 -0.000473652 -0.149476 0.00114253" mass="0.018" diaginertia="8.83016e-07 8.41781e-07 2.73851e-07" />
+                                  <joint name="right_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger2_link4" />
+                                  <geom class="collision" mesh="right_hand_finger2_link4_collision" />
+                                  <geom pos="-0.00105 0 0.0274" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger2_tip_link" />
+                                  <geom pos="-0.00105 0 0.0274" class="collision" mesh="right_hand_finger2_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="right_hand_finger3_link1" pos="-0.01046 0.0074615 0.089544" quat="0.999048 -1.26848e-05 -0.0436192 0.000290547">
+                            <inertial pos="-0.0013291 3.4987e-09 0.00031994" quat="0.934668 0 0.355522 0" mass="0.0032" diaginertia="3.3526e-08 2.2948e-08 1.7331e-08" />
+                            <joint name="right_finger3_joint1" pos="0 0 0" axis="0 1 0" range="-0.32695 1.63595" actuatorfrcrange="-1 1" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger3_link1" />
+                            <geom class="collision" mesh="right_hand_finger3_link1_collision" />
+                            <body name="right_hand_finger3_link2" pos="0.0022 0 0.004">
+                              <inertial pos="-0.0061576 -4.1651e-07 0.020911" quat="0.706354 0.0103413 0.0102909 0.707709" mass="0.033" diaginertia="4.0532e-06 4.04146e-06 5.63059e-07" />
+                              <joint name="right_finger3_joint2" pos="0 0 0" axis="-1 0 0" range="-0.495 0.495" actuatorfrcrange="-0.2 0.2" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger3_link2" />
+                              <geom class="collision" mesh="right_hand_finger3_link2_collision" />
+                              <body name="right_hand_finger3_link3" pos="-0.00475 0 0.043618" quat="1 0 0 -0.000134305">
+                                <inertial pos="-0.0011214 4.331e-06 0.015763" quat="0.999859 0.000617768 -0.0167552 0.00037928" mass="0.0165" diaginertia="1.12038e-06 1.0947e-06 3.3788e-07" />
+                                <joint name="right_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger3_link3" />
+                                <geom class="collision" mesh="right_hand_finger3_link3_collision" />
+                                <body name="right_hand_finger3_link4" pos="0 0 0.0295">
+                                  <inertial pos="-0.00179624 1.91317e-05 0.00809231" quat="0.989227 -0.000361057 -0.146388 0.00109528" mass="0.018" diaginertia="8.81284e-07 8.39863e-07 2.73665e-07" />
+                                  <joint name="right_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger3_link4" />
+                                  <geom class="collision" mesh="right_hand_finger3_link4_collision" />
+                                  <geom pos="-0.0010491 0 0.0267" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger3_tip_link" />
+                                  <geom pos="-0.0010491 0 0.0267" class="collision" mesh="right_hand_finger3_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="right_hand_finger4_link1" pos="-0.0076649 -0.013712 0.084429" quat="0.997789 0.0461019 -0.0405884 0.0254002">
+                            <inertial pos="-0.0013291 1.0048e-08 0.00031995" quat="0.934668 0 0.355522 0" mass="0.0032" diaginertia="3.3526e-08 2.2948e-08 1.7331e-08" />
+                            <joint name="right_finger4_joint1" pos="0 0 0" axis="0 1 0" range="-0.32695 1.63595" actuatorfrcrange="-1 1" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger4_link1" />
+                            <geom class="collision" mesh="right_hand_finger4_link1_collision" />
+                            <body name="right_hand_finger4_link2" pos="0.0022 0 0.004">
+                              <inertial pos="-0.0061576 -4.1601e-07 0.020911" quat="0.706357 0.0103412 0.010291 0.707706" mass="0.033" diaginertia="4.0532e-06 4.04146e-06 5.63059e-07" />
+                              <joint name="right_finger4_joint2" pos="0 0 0" axis="-1 0 0" range="-0.495 0.495" actuatorfrcrange="-0.2 0.2" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger4_link2" />
+                              <geom class="collision" mesh="right_hand_finger4_link2_collision" />
+                              <body name="right_hand_finger4_link3" pos="-0.00475 0 0.043618" quat="1 0 0 -0.000134305">
+                                <inertial pos="-0.0011214 4.3494e-06 0.015763" quat="0.999859 0.000617864 -0.0167565 0.00036944" mass="0.0165" diaginertia="1.12038e-06 1.0947e-06 3.3788e-07" />
+                                <joint name="right_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger4_link3" />
+                                <geom class="collision" mesh="right_hand_finger4_link3_collision" />
+                                <body name="right_hand_finger4_link4" pos="0 0 0.0295">
+                                  <inertial pos="-0.00179663 1.92161e-05 0.00809236" quat="0.98922 -0.000370884 -0.146433 0.00108147" mass="0.018" diaginertia="8.81379e-07 8.39944e-07 2.73661e-07" />
+                                  <joint name="right_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger4_link4" />
+                                  <geom class="collision" mesh="right_hand_finger4_link4_collision" />
+                                  <geom pos="-0.0010528 0 0.0267" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger4_tip_link" />
+                                  <geom pos="-0.0010528 0 0.0267" class="collision" mesh="right_hand_finger4_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                          <body name="right_hand_finger5_link1" pos="-0.0022687 -0.034001 0.074281" quat="0.99087 0.0993154 -0.0383256 0.0827347">
+                            <inertial pos="-0.0013291 1.7235e-08 0.00031997" quat="0.934668 0 0.355522 0" mass="0.0032" diaginertia="3.35261e-08 2.2948e-08 1.73309e-08" />
+                            <joint name="right_finger5_joint1" pos="0 0 0" axis="0 1 0" range="-0.32695 1.63595" actuatorfrcrange="-1 1" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger5_link1" />
+                            <geom class="collision" mesh="right_hand_finger5_link1_collision" />
+                            <body name="right_hand_finger5_link2" pos="0.0022 0 0.004">
+                              <inertial pos="-0.0061576 -4.1475e-07 0.020911" quat="0.706366 0.010341 0.0102912 0.707697" mass="0.033" diaginertia="4.0532e-06 4.04146e-06 5.63059e-07" />
+                              <joint name="right_finger5_joint2" pos="0 0 0" axis="-1 0 0" range="-0.495 0.495" actuatorfrcrange="-0.2 0.2" />
+                              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger5_link2" />
+                              <geom class="collision" mesh="right_hand_finger5_link2_collision" />
+                              <body name="right_hand_finger5_link3" pos="-0.00475 0 0.043618" quat="1 0 0 -0.000134305">
+                                <inertial pos="-0.0011214 4.3703e-06 0.015763" quat="0.999859 0.000617324 -0.0167577 0.000364458" mass="0.0165" diaginertia="1.12038e-06 1.0947e-06 3.3788e-07" />
+                                <joint name="right_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger5_link3" />
+                                <geom class="collision" mesh="right_hand_finger5_link3_collision" />
+                                <body name="right_hand_finger5_link4" pos="0 0 0.0295">
+                                  <inertial pos="-0.00179519 2.1558e-05 0.00809244" quat="0.98925 -0.000761351 -0.14623 0.00116436" mass="0.018" diaginertia="8.81217e-07 8.39787e-07 2.73647e-07" />
+                                  <joint name="right_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4932 1.6272" actuatorfrcrange="-0.3 0.3" />
+                                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger5_link4" />
+                                  <geom class="collision" mesh="right_hand_finger5_link4_collision" />
+                                  <geom pos="-0.0010446 1.1308e-05 0.0267" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89804 0.91765 0.92941 1" mesh="right_hand_finger5_tip_link" />
+                                  <geom pos="-0.0010446 1.1308e-05 0.0267" class="collision" mesh="right_hand_finger5_tip_link_collision" />
+                                </body>
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <site name="world_site" pos="0 0 0" quat="1 0 0 0" />
+    <camera name="front_camera" mode="track" fovy="90.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476" pos="0.0 2.0 0.5" />
+    <camera name="side_camera" mode="track" fovy="90.0" quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
+    <site name="mocap_left" type="sphere" pos="0 0 0" size="0.04" rgba="0.2 0.9 0.2 0.3" group="1" />
+    <site name="mocap_right" type="sphere" pos="0 0 0" size="0.04" rgba="0.9 0.2 0.2 0.3" group="1" />
+  </worldbody>
+  <actuator>
+    <motor name="openarm_left_joint1" joint="openarm_left_joint1" class="DM8009" />
+    <motor name="openarm_left_joint2" joint="openarm_left_joint2" class="DM8009" />
+    <motor name="openarm_left_joint3" joint="openarm_left_joint3" class="DM4340" />
+    <motor name="openarm_left_joint4" joint="openarm_left_joint4" class="DM4340" />
+    <motor name="openarm_left_joint5" joint="openarm_left_joint5" class="DM4310" />
+    <motor name="openarm_left_joint6" joint="openarm_left_joint6" class="DM4310" />
+    <motor name="openarm_left_joint7" joint="openarm_left_joint7" class="DM4310" />
+    <motor name="openarm_right_joint1" joint="openarm_right_joint1" class="DM8009" />
+    <motor name="openarm_right_joint2" joint="openarm_right_joint2" class="DM8009" />
+    <motor name="openarm_right_joint3" joint="openarm_right_joint3" class="DM4340" />
+    <motor name="openarm_right_joint4" joint="openarm_right_joint4" class="DM4340" />
+    <motor name="openarm_right_joint5" joint="openarm_right_joint5" class="DM4310" />
+    <motor name="openarm_right_joint6" joint="openarm_right_joint6" class="DM4310" />
+    <motor name="openarm_right_joint7" joint="openarm_right_joint7" class="DM4310" />
+    <position name="left_finger1_joint1" joint="left_finger1_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger1_joint2" joint="left_finger1_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger1_joint3" joint="left_finger1_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="left_finger1_joint4" joint="left_finger1_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+    <position name="left_finger2_joint1" joint="left_finger2_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger2_joint2" joint="left_finger2_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger2_joint3" joint="left_finger2_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="left_finger2_joint4" joint="left_finger2_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+    <position name="left_finger3_joint1" joint="left_finger3_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger3_joint2" joint="left_finger3_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger3_joint3" joint="left_finger3_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="left_finger3_joint4" joint="left_finger3_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+    <position name="left_finger4_joint1" joint="left_finger4_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger4_joint2" joint="left_finger4_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger4_joint3" joint="left_finger4_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="left_finger4_joint4" joint="left_finger4_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+    <position name="left_finger5_joint1" joint="left_finger5_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger5_joint2" joint="left_finger5_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="left_finger5_joint3" joint="left_finger5_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="left_finger5_joint4" joint="left_finger5_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+    <position name="right_finger1_joint1" joint="right_finger1_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger1_joint2" joint="right_finger1_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger1_joint3" joint="right_finger1_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="right_finger1_joint4" joint="right_finger1_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+    <position name="right_finger2_joint1" joint="right_finger2_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger2_joint2" joint="right_finger2_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger2_joint3" joint="right_finger2_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="right_finger2_joint4" joint="right_finger2_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+    <position name="right_finger3_joint1" joint="right_finger3_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger3_joint2" joint="right_finger3_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger3_joint3" joint="right_finger3_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="right_finger3_joint4" joint="right_finger3_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+    <position name="right_finger4_joint1" joint="right_finger4_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger4_joint2" joint="right_finger4_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger4_joint3" joint="right_finger4_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="right_finger4_joint4" joint="right_finger4_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+    <position name="right_finger5_joint1" joint="right_finger5_joint1" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger5_joint2" joint="right_finger5_joint2" ctrlrange="-1.57 1.57" kp="2" forcerange="-3 3" />
+    <position name="right_finger5_joint3" joint="right_finger5_joint3" ctrlrange="-1.57 1.57" kp="1" forcerange="-1.5 1.5" />
+    <position name="right_finger5_joint4" joint="right_finger5_joint4" ctrlrange="-1.57 1.57" kp="0.8" forcerange="-1 1" />
+  </actuator>
+  <contact>
+    <exclude body1="openarm_body_link0" body2="openarm_left_link0" />
+    <exclude body1="openarm_left_link0" body2="openarm_left_link1" />
+    <exclude body1="openarm_left_link0" body2="openarm_left_link2" />
+    <exclude body1="openarm_left_link0" body2="openarm_left_link3" />
+    <exclude body1="openarm_left_link1" body2="openarm_left_link2" />
+    <exclude body1="openarm_left_link1" body2="openarm_left_link3" />
+    <exclude body1="openarm_left_link2" body2="openarm_left_link3" />
+    <exclude body1="openarm_left_link3" body2="openarm_left_link4" />
+    <exclude body1="openarm_left_link4" body2="openarm_left_link5" />
+    <exclude body1="openarm_left_link5" body2="openarm_left_link6" />
+    <exclude body1="openarm_left_link5" body2="openarm_left_link7" />
+    <exclude body1="openarm_left_link6" body2="openarm_left_link7" />
+    <exclude body1="openarm_body_link0" body2="openarm_right_link0" />
+    <exclude body1="openarm_right_link0" body2="openarm_right_link1" />
+    <exclude body1="openarm_right_link0" body2="openarm_right_link2" />
+    <exclude body1="openarm_right_link0" body2="openarm_right_link3" />
+    <exclude body1="openarm_right_link1" body2="openarm_right_link2" />
+    <exclude body1="openarm_right_link1" body2="openarm_right_link3" />
+    <exclude body1="openarm_right_link2" body2="openarm_right_link3" />
+    <exclude body1="openarm_right_link3" body2="openarm_right_link4" />
+    <exclude body1="openarm_right_link4" body2="openarm_right_link5" />
+    <exclude body1="openarm_right_link5" body2="openarm_right_link6" />
+    <exclude body1="openarm_right_link5" body2="openarm_right_link7" />
+    <exclude body1="openarm_right_link6" body2="openarm_right_link7" />
+    <exclude body1="openarm_left_link7" body2="left_hand_palm_link" />
+    <exclude body1="openarm_right_link7" body2="right_hand_palm_link" />
+    <exclude body1="left_hand_palm_link" body2="left_hand_finger1_link1" />
+    <exclude body1="left_hand_palm_link" body2="left_hand_finger2_link1" />
+    <exclude body1="left_hand_palm_link" body2="left_hand_finger3_link1" />
+    <exclude body1="left_hand_palm_link" body2="left_hand_finger4_link1" />
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+    <exclude body1="right_hand_palm_link" body2="right_hand_finger3_link1" />
+    <exclude body1="right_hand_palm_link" body2="right_hand_finger4_link1" />
+    <exclude body1="right_hand_palm_link" body2="right_hand_finger5_link1" />
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+    <framepos name="world_site_pos" objtype="site" objname="world_site" />
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+    <velocimeter name="world_site_vel" site="world_site" />
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