my_hand_version3.xacro

<?xml version="1.0"?>
<!-- Revolute-Revolute Manipulator -->
<robot name="rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- Constants for robot dimensions -->
  <xacro:property name="PI" value="3.1415926535897931"/>
  <xacro:property name="mass" value="1" /> <!-- arbitrary value for mass -->
  <xacro:property name="width" value="0.1" /> <!-- Square dimensions (widthxwidth) of beams -->
  <xacro:property name="height1" value="2" /> <!-- Link 1 -->
  <xacro:property name="height2" value="1" /> <!-- Link 2 -->
  <xacro:property name="height3" value="1" /> <!-- Link 3 -->
  <xacro:property name="camera_link" value="0.05" /> <!-- Size of square 'camera' box -->
  <xacro:property name="axel_offset" value="0.05" /> <!-- Space btw top of beam and the each joint -->

  <!-- Import all Gazebo-customization elements, including Gazebo colors -->
  <xacro:include filename="$(find rrbot_description)/urdf/rrbot.gazebo" />
  <!-- Import Rviz colors -->
  <xacro:include filename="$(find rrbot_description)/urdf/materials.xacro" />

  <!-- for fixing the robot -->
  <link name="world"/>

  <joint name="fixed" type="fixed">
    <parent link="world"/>
    <child link="empty_base"/>
  </joint>


  <!-- no use base -->
  <link name="empty_base">
    <visual>
      <origin xyz="0 0 0.005"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>    <!-- for big a bit -->
      </geometry>
      <material name="black"/>
    </visual>

    <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>


  <joint name="empty_base_to_hand_base" type="fixed">
    <parent link="empty_base"/>
    <child link="hand_base"/>
    <origin xyz="0 0 0.1" rpy="0 0 0"/>   <!-- for rotate -->
  </joint>


  <!-- real hand base -->
  <link name="hand_base">
    <visual>
      <origin xyz="0 0.05 0"/>
      <geometry>
        <box size="0.05 0.1 0.01"/>    <!-- for big a bit -->
      </geometry>
      <material name="black"/>
    </visual>

    <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"/>
    <origin xyz="-0.02861 0.11081 0.00842 " 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 0.01775 0"/>
      <geometry>
        <box size="0.008 0.0355 0.008"/> 
      </geometry>
      <material name="black"/>
    </visual>

    <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>


  <link name="finger5_1">
    <visual>
      <origin xyz="0 0.018125 0"/>
      <geometry>
        <box size="0.008 0.03625 0.008"/>
      </geometry>
      <material name="black"/>
    </visual>

    <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 finger4 -->
  <joint name="hand_base_to_finger4" type="continuous">
    <parent link="hand_base"/>
    <child link="finger4"/>
    <origin xyz="-0.01267 0.11495 0.01139" rpy="0 ${2*PI/360*3} ${2*PI/360*2.5}"/>

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


  <link name="finger4">
    <visual>
      <origin xyz="0 0.01975 0"/>
      <geometry>
        <box size="0.008 0.0395 0.008"/>
      </geometry>
      <material name="black"/>
    </visual>

    <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>

  <joint name="finger4_to_finger4_1" type="continuous">
    <parent link="finger4"/>
    <child link="finger4_1"/>
    <origin xyz="0 0.0355 0" rpy="0 0 0"/>

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


  <link name="finger4_1">
    <visual>
      <origin xyz="0 0.02201 0"/>
      <geometry>
        <box size="0.008 0.04402 0.008"/>
      </geometry>
      <material name="black"/>
    </visual>

    <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 finger3 , middle finger -->
  <joint name="hand_base_to_finger3" type="continuous">
    <parent link="hand_base"/>
    <child link="finger3"/>
    <origin xyz="0.012 0.11629 0.01158" rpy="0 0 ${-2*PI/360*1}"/>

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


  <link name="finger3">
    <visual>
      <origin xyz="0 0.0215 0"/>
      <geometry>
        <box size="0.008 0.043 0.008"/>
      </geometry>
      <material name="black"/>
    </visual>

    <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>

  <joint name="finger3_to_finger3_1" type="continuous">
    <parent link="finger3"/>
    <child link="finger3_1"/>
    <origin xyz="0 0.043 0" rpy="0 0 0"/>

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


  <link name="finger3_1">
    <visual>
      <origin xyz="0 0.024 0"/>
      <geometry>
        <box size="0.008 0.048 0.008"/>
      </geometry>
      <material name="black"/>
    </visual>

    <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 finger2, index finger, eat finger -->
  <joint name="hand_base_to_finger2" type="continuous">
    <parent link="hand_base"/>
    <child link="finger2"/>
    <origin xyz="0.03286 0.11382 0.00806" rpy="0 ${2*PI/360*5} ${-2*PI/360*4}"/>

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


  <link name="finger2">
    <visual>
      <origin xyz="0 0.01775 0"/>
      <geometry>
        <box size="0.008 0.0355 0.008"/>
      </geometry>
      <material name="black"/>
    </visual>

    <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>

  <joint name="finger2_to_finger2_1" type="continuous">
    <parent link="finger2"/>
    <child link="finger2_1"/>
    <origin xyz="0 0.0355 0" rpy="0 0 0"/>

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


  <link name="finger2_1">
    <visual>
      <origin xyz="0 0.024 0"/>
      <geometry>
        <box size="0.008 0.048 0.008"/>
      </geometry>
      <material name="black"/>
    </visual>

    <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 finger1, thumb , big finger -->
  <!-- note finger1 has a rotate axis -->
  <joint name="hand_base_to_finger1_rotate_axis" type="continuous">
    <parent link="hand_base"/>
    <child link="finger1_rotate_axis"/>
    <origin xyz="0.01587 0 0.01582" rpy="0 0 0"/>   <!-- maybe is negative -->

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


  <link name="finger1_rotate_axis">
    <visual>
      <origin xyz="0.001 0 0"/>        
      <geometry>
        <box size="0.002 0.002 0.002"/>   <!-- use a square to present, position arbitrary -->
      </geometry>
      <material name="black"/>
    </visual>

    <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>

  <joint name="finger1_rotate_axis_to_finger1" type="fixed">
    <parent link="finger1_rotate_axis"/>
    <child link="finger1"/>
    <origin xyz="0.01504 0 0.00679" rpy="0 0 0"/>
  </joint>


  <link name="finger1">
    <visual>
      <origin xyz="0 0.03669 0"/>
      <geometry>
        <box size="0.008 0.07338 0.008"/>
      </geometry>
      <material name="black"/>
    </visual>

    <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>

  <joint name="finger1_to_finger1_1" type="continuous">
    <parent link="finger1"/>
    <child link="finger1_1"/>
    <origin xyz="0 0.07338 0" rpy="0 0 0"/>

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

  <link name="finger1_1">
    <visual>
      <origin xyz="0 0.0135 0"/>
      <geometry>
        <box size="0.008 0.027 0.008"/>
      </geometry>
      <material name="black"/>
    </visual>

    <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>

  <!-- transmission finger5 -->
  <transmission name="finger5_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger5_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="hand_base_to_finger5">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <transmission name="finger5_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger5_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="finger5_to_finger5_1">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <!-- transmission finger4 -->
  <transmission name="finger4_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger4_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="hand_base_to_finger4">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <transmission name="finger4_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger4_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="finger4_to_finger4_1">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <!-- transmission finger3 -->
  <transmission name="finger3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger3_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="hand_base_to_finger3">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <transmission name="finger3_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger3_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="finger3_to_finger3_1">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <!-- transmission finger2 -->
  <transmission name="finger2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger2_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="hand_base_to_finger2">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <transmission name="finger2_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger2_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="finger2_to_finger2_1">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <!-- for finger1 rotate axis -->
  <transmission name="finger1_rotate_axis_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger1_rotate_axis_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="hand_base_to_finger1_rotate_axis">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>

  <!-- for finger1 trans -->
  <transmission name="finger1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="finger1_to_finger1_1">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>


</robot>