ask

  <!-- real hand base -->
  <!-- add collision --> <!-- test other collision -->
  <link name="hand_base">
    <visual>
      <!-- final origin xyz "0 0.052 0" is because the length of thetwo hand_base -->
      <!-- the number is to adjust the position of hand base 0.017738 -->
      <!-- old <origin xyz="0 0.061515 0.018191" rpy="0 0 0"/> -->
      <origin xyz="0 0.061515 0" rpy="0 0 0"/>
      <geometry>
      <!-- for big a bit --> <!-- <box size="0.05 0.1 0.01"/> -->
      <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>

    <collision>
      <origin xyz="0 0.061515 0" rpy="0 0 0"/>
      <geometry>
      <!-- for big a bit --> <!-- <box size="0.05 0.1 0.01"/> -->
      <mesh filename="package://rrbot_description/meshes/hand_base_group_version8_final.dae" scale="1 1 1"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1"/>
      <inertia
      ixx="0.01" ixy="0.0" ixz="0.0"
      iyy="0.01" iyz="0.0"
      izz="0.01"/>
    </inertial>
  </link>


  <!-- for finger5 -->  <!-- change to continuous -->
  <joint name="hand_base_to_finger5" type="continuous">
    <parent link="hand_base"/>
    <child link="finger5"/>
    <!-- old <origin xyz="-0.02861 0.11081 0.00842 " rpy="0 ${2*PI/360*7} ${2*PI/360*6}"/> -->
    <origin xyz="-0.03075 0.1099 -0.005841" rpy="0 ${2*PI/360*7} ${2*PI/360*6}"/>

    <axis xyz="1 0 0"/>                    <!-- origin 1 0 0 -->
    <limit effort="30" velocity="1"/>
  </joint>

  <link name="finger5">
    <visual>
      <origin xyz="0 0.019427 0"/>
      <geometry>
        <!-- <box size="0.008 0.0355 0.008"/> -->
        <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>

    <collision>
      <origin xyz="0 0.019427 0"/>
      <geometry>
        <!-- <box size="0.008 0.0355 0.008"/> -->
        <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1"/>
      <inertia
      ixx="0.01" ixy="0.0" ixz="0.0"
      iyy="0.01" iyz="0.0"
      izz="0.01"/>
    </inertial>
  </link>


  <!-- I change fixed to continuous , and the color successfully change... -->
  <joint name="finger5_to_finger5_1" type="continuous">
    <parent link="finger5"/>
    <child link="finger5_1"/>
    <origin xyz="0 0.0355 0" rpy="0 0 0"/>

    <axis xyz="1 0 0"/>
    <limit effort="30" velocity="1"/>
  </joint>

  <!-- change for mesh -->
  <link name="finger5_1">
    <visual>
      <origin xyz="0 0.017182 0" rpy="0 0 0"/>   <!-- xyz="0 0.018125 0" no rpy -->
      <geometry>
        <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
      </geometry>  <!-- <box size="0.008 0.03625 0.008"/> -->
      <material name="black"/>
    </visual>

    <collision>
      <origin xyz="0 0.017182 0" rpy="0 0 0"/>   <!-- xyz="0 0.018125 0" no rpy -->
      <geometry>
        <mesh filename="package://rrbot_description/meshes/finger5_end.dae" scale="1 1 1"/>
      </geometry>  <!-- <box size="0.008 0.03625 0.008"/> -->
    </collision>

    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="1"/>
      <inertia
      ixx="0.01" ixy="0.0" ixz="0.0"
      iyy="0.01" iyz="0.0"
      izz="0.01"/>
    </inertial>
  </link>