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@@ -56,3 +56,39 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box1/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box1/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box4/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box4/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box5/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box5/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box7/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box7/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box8/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box8/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box9/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/box/box9/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce0/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce0/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce1/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce1/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce2/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce2/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce3/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce3/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce4/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce4/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce5/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce5/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce6/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce6/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce7/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce7/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce8/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce8/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce9/aligned_mesh.obj filter=lfs diff=lfs merge=lfs -text
+assets/object/class/sauce/sauce9/aligned_pc.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/single/bunny.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/single/golfball.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/single/mini_soccer_ball.ply filter=lfs diff=lfs merge=lfs -text
+assets/object/single/power_drill.ply filter=lfs diff=lfs merge=lfs -text

assets/gripper/barrett.urdf

@@ -0,0 +1,1071 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from bh_alone.urdf.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="bhand">
+  <!-- z-coordinate is not 0 because otherwise the hand base tilts when the simulation is started -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="hand_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="hand_base_link"/>
+  </joint>
+  <link name="hand_base_link"/>
+  <joint name="bh_base_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="hand_base_link"/>
+    <child link="bh_base_link"/>
+  </joint>
+  <!-- HAND BASE_LINK (RED) -->
+  <link name="bh_base_link">
+    <inertial>
+      <mass value="1.0"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/palm_280.dae"/>
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.75 0.75 0.75 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/palm_280.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- finger 3 -->
+  <!-- finger 32 link -->
+  <link name="bh_finger_32_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_31_link and BH_finger_32_link -->
+  <joint name="bh_j32_joint" type="revolute">
+    <parent link="bh_base_link"/>
+    <child link="bh_finger_32_link"/>
+    <origin rpy="1.5708 0 1.5708" xyz="0 -0.05 0.0754"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j32_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j32_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j32">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 33 link -->
+  <link name="bh_finger_33_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_32_link and BH_finger_33_link -->
+  <joint name="bh_j33_joint" type="revolute">
+    <parent link="bh_finger_32_link"/>
+    <child link="bh_finger_33_link"/>
+    <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+    <axis xyz="0 0 -1"/>
+    <mimic joint="bh_j32_joint" multiplier="0.3442622950819672"/>
+    <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j33_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j33_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j33">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 1 -->
+  <!-- finger 11 link -->
+  <link name="bh_finger_11_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/knuckle.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/knuckle.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between BH_palm_link and BH_finger_11_link -->
+  <joint name="bh_j11_joint" type="revolute">
+    <parent link="bh_base_link"/>
+    <child link="bh_finger_11_link"/>
+    <origin rpy="0 0 -1.5708" xyz="0.025 0 0.0415"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0" upper="3.1416" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j11_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j11_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j11">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 12 link -->
+  <link name="bh_finger_12_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_11_link and BH_finger_12_link -->
+  <joint name="bh_j12_joint" type="revolute">
+    <parent link="bh_finger_11_link"/>
+    <child link="bh_finger_12_link"/>
+    <origin rpy="1.5708 0 0" xyz="-0.05 0 0.0339"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j12_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j12_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j12">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 13 link -->
+  <link name="bh_finger_13_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_12_link and BH_finger_13_link -->
+  <joint name="bh_j13_joint" type="revolute">
+    <parent link="bh_finger_12_link"/>
+    <child link="bh_finger_13_link"/>
+    <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+    <axis xyz="0 0 -1"/>
+    <mimic joint="bh_j12_joint" multiplier="0.3442622950819672"/>
+    <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j13_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j13_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j13">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 2 -->
+  <!-- finger 21 link -->
+  <link name="bh_finger_21_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/knuckle.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/knuckle.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between BH_palm_link and BH_finger_21_link -->
+  <joint name="bh_j21_joint" type="revolute">
+    <parent link="bh_base_link"/>
+    <child link="bh_finger_21_link"/>
+    <origin rpy="0 0 -1.5708" xyz="-0.025 0 0.0415"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="bh_j11_joint" multiplier="1"/>
+    <limit effort="30.0" lower="0" upper="3.1416" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j21_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j21_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j21">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 12 link -->
+  <link name="bh_finger_22_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_21_link and BH_finger_22_link -->
+  <joint name="bh_j22_joint" type="revolute">
+    <parent link="bh_finger_21_link"/>
+    <child link="bh_finger_22_link"/>
+    <origin rpy="1.5708 -8.8281E-17 0" xyz="-0.05 0 0.0339"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j22_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j22_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j22">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 23 link -->
+  <link name="bh_finger_23_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="description/barrett_hand/meshes/finger_tip.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_22_link and BH_finger_23_link -->
+  <joint name="bh_j23_joint" type="revolute">
+    <parent link="bh_finger_22_link"/>
+    <child link="bh_finger_23_link"/>
+    <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+    <axis xyz="0 0 -1"/>
+    <mimic joint="bh_j22_joint" multiplier="0.3442622950819672"/>
+    <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j23_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j23_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j23">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j11_joint</joint>
+      <mimicJoint>bh_j21_joint</mimicJoint>
+      <multiplier>1</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j12_joint</joint>
+      <mimicJoint>bh_j13_joint</mimicJoint>
+      <multiplier>0.344</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j22_joint</joint>
+      <mimicJoint>bh_j23_joint</mimicJoint>
+      <multiplier>0.344</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j32_joint</joint>
+      <mimicJoint>bh_j33_joint</mimicJoint>
+      <multiplier>0.344</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo reference="bh_base_link">
+    <material>Gazebo/White</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_31_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_32_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_33_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_11_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_12_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_13_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_21_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_22_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_23_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <!-- Imaginary joints for transform from tactile sensors -->
+  <!-- Radian value obtained from graspit description of 40 degrees -->
+  <joint name="bh_finger_14_joint" type="fixed">
+    <parent link="bh_finger_13_link"/>
+    <child link="bh_finger_14_link"/>
+    <origin rpy="0 0 0.698132" xyz="0 0 0"/>
+  </joint>
+  <link name="bh_finger_14_link"/>
+  <joint name="bh_finger_24_joint" type="fixed">
+    <parent link="bh_finger_23_link"/>
+    <child link="bh_finger_24_link"/>
+    <origin rpy="0 0 0.698132" xyz="0 0 0"/>
+  </joint>
+  <link name="bh_finger_24_link"/>
+  <joint name="bh_finger_34_joint" type="fixed">
+    <parent link="bh_finger_33_link"/>
+    <child link="bh_finger_34_link"/>
+    <origin rpy="0 0 0.698132" xyz="0 0 0"/>
+  </joint>
+  <link name="bh_finger_34_link"/>
+  <!-- Auto generated tactile sensor links -->
+  <joint name="bh_palm_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_1_link"/>
+  </joint>
+  <link name="bh_palm_sensor_1_link"/>
+  <joint name="bh_palm_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_2_link"/>
+  </joint>
+  <link name="bh_palm_sensor_2_link"/>
+  <joint name="bh_palm_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_3_link"/>
+  </joint>
+  <link name="bh_palm_sensor_3_link"/>
+  <joint name="bh_palm_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_4_link"/>
+  </joint>
+  <link name="bh_palm_sensor_4_link"/>
+  <joint name="bh_palm_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_5_link"/>
+  </joint>
+  <link name="bh_palm_sensor_5_link"/>
+  <joint name="bh_palm_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.033 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_6_link"/>
+  </joint>
+  <link name="bh_palm_sensor_6_link"/>
+  <joint name="bh_palm_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_7_link"/>
+  </joint>
+  <link name="bh_palm_sensor_7_link"/>
+  <joint name="bh_palm_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_8_link"/>
+  </joint>
+  <link name="bh_palm_sensor_8_link"/>
+  <joint name="bh_palm_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_9_link"/>
+  </joint>
+  <link name="bh_palm_sensor_9_link"/>
+  <joint name="bh_palm_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_10_link"/>
+  </joint>
+  <link name="bh_palm_sensor_10_link"/>
+  <joint name="bh_palm_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_11_link"/>
+  </joint>
+  <link name="bh_palm_sensor_11_link"/>
+  <joint name="bh_palm_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.033 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_12_link"/>
+  </joint>
+  <link name="bh_palm_sensor_12_link"/>
+  <joint name="bh_palm_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.033 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_13_link"/>
+  </joint>
+  <link name="bh_palm_sensor_13_link"/>
+  <joint name="bh_palm_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_14_link"/>
+  </joint>
+  <link name="bh_palm_sensor_14_link"/>
+  <joint name="bh_palm_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_15_link"/>
+  </joint>
+  <link name="bh_palm_sensor_15_link"/>
+  <joint name="bh_palm_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_16_link"/>
+  </joint>
+  <link name="bh_palm_sensor_16_link"/>
+  <joint name="bh_palm_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_17_link"/>
+  </joint>
+  <link name="bh_palm_sensor_17_link"/>
+  <joint name="bh_palm_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_18_link"/>
+  </joint>
+  <link name="bh_palm_sensor_18_link"/>
+  <joint name="bh_palm_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.033 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_19_link"/>
+  </joint>
+  <link name="bh_palm_sensor_19_link"/>
+  <joint name="bh_palm_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_20_link"/>
+  </joint>
+  <link name="bh_palm_sensor_20_link"/>
+  <joint name="bh_palm_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_21_link"/>
+  </joint>
+  <link name="bh_palm_sensor_21_link"/>
+  <joint name="bh_palm_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_22_link"/>
+  </joint>
+  <link name="bh_palm_sensor_22_link"/>
+  <joint name="bh_palm_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_23_link"/>
+  </joint>
+  <link name="bh_palm_sensor_23_link"/>
+  <joint name="bh_palm_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_24_link"/>
+  </joint>
+  <link name="bh_palm_sensor_24_link"/>
+  <joint name="bh_link1_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor1_link"/>
+  </joint>
+  <link name="bh_link1_sensor1_link"/>
+  <joint name="bh_link1_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor2_link"/>
+  </joint>
+  <link name="bh_link1_sensor2_link"/>
+  <joint name="bh_link1_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor3_link"/>
+  </joint>
+  <link name="bh_link1_sensor3_link"/>
+  <joint name="bh_link1_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor4_link"/>
+  </joint>
+  <link name="bh_link1_sensor4_link"/>
+  <joint name="bh_link1_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor5_link"/>
+  </joint>
+  <link name="bh_link1_sensor5_link"/>
+  <joint name="bh_link1_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor6_link"/>
+  </joint>
+  <link name="bh_link1_sensor6_link"/>
+  <joint name="bh_link1_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor7_link"/>
+  </joint>
+  <link name="bh_link1_sensor7_link"/>
+  <joint name="bh_link1_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor8_link"/>
+  </joint>
+  <link name="bh_link1_sensor8_link"/>
+  <joint name="bh_link1_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor9_link"/>
+  </joint>
+  <link name="bh_link1_sensor9_link"/>
+  <joint name="bh_link1_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor10_link"/>
+  </joint>
+  <link name="bh_link1_sensor10_link"/>
+  <joint name="bh_link1_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor11_link"/>
+  </joint>
+  <link name="bh_link1_sensor11_link"/>
+  <joint name="bh_link1_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor12_link"/>
+  </joint>
+  <link name="bh_link1_sensor12_link"/>
+  <joint name="bh_link1_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor13_link"/>
+  </joint>
+  <link name="bh_link1_sensor13_link"/>
+  <joint name="bh_link1_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor14_link"/>
+  </joint>
+  <link name="bh_link1_sensor14_link"/>
+  <joint name="bh_link1_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor15_link"/>
+  </joint>
+  <link name="bh_link1_sensor15_link"/>
+  <joint name="bh_link1_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor16_link"/>
+  </joint>
+  <link name="bh_link1_sensor16_link"/>
+  <joint name="bh_link1_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor17_link"/>
+  </joint>
+  <link name="bh_link1_sensor17_link"/>
+  <joint name="bh_link1_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor18_link"/>
+  </joint>
+  <link name="bh_link1_sensor18_link"/>
+  <joint name="bh_link1_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor19_link"/>
+  </joint>
+  <link name="bh_link1_sensor19_link"/>
+  <joint name="bh_link1_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor20_link"/>
+  </joint>
+  <link name="bh_link1_sensor20_link"/>
+  <joint name="bh_link1_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor21_link"/>
+  </joint>
+  <link name="bh_link1_sensor21_link"/>
+  <joint name="bh_link1_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor22_link"/>
+  </joint>
+  <link name="bh_link1_sensor22_link"/>
+  <joint name="bh_link1_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor23_link"/>
+  </joint>
+  <link name="bh_link1_sensor23_link"/>
+  <joint name="bh_link1_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor24_link"/>
+  </joint>
+  <link name="bh_link1_sensor24_link"/>
+  <joint name="bh_link2_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor1_link"/>
+  </joint>
+  <link name="bh_link2_sensor1_link"/>
+  <joint name="bh_link2_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor2_link"/>
+  </joint>
+  <link name="bh_link2_sensor2_link"/>
+  <joint name="bh_link2_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor3_link"/>
+  </joint>
+  <link name="bh_link2_sensor3_link"/>
+  <joint name="bh_link2_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor4_link"/>
+  </joint>
+  <link name="bh_link2_sensor4_link"/>
+  <joint name="bh_link2_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor5_link"/>
+  </joint>
+  <link name="bh_link2_sensor5_link"/>
+  <joint name="bh_link2_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor6_link"/>
+  </joint>
+  <link name="bh_link2_sensor6_link"/>
+  <joint name="bh_link2_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor7_link"/>
+  </joint>
+  <link name="bh_link2_sensor7_link"/>
+  <joint name="bh_link2_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor8_link"/>
+  </joint>
+  <link name="bh_link2_sensor8_link"/>
+  <joint name="bh_link2_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor9_link"/>
+  </joint>
+  <link name="bh_link2_sensor9_link"/>
+  <joint name="bh_link2_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor10_link"/>
+  </joint>
+  <link name="bh_link2_sensor10_link"/>
+  <joint name="bh_link2_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor11_link"/>
+  </joint>
+  <link name="bh_link2_sensor11_link"/>
+  <joint name="bh_link2_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor12_link"/>
+  </joint>
+  <link name="bh_link2_sensor12_link"/>
+  <joint name="bh_link2_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor13_link"/>
+  </joint>
+  <link name="bh_link2_sensor13_link"/>
+  <joint name="bh_link2_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor14_link"/>
+  </joint>
+  <link name="bh_link2_sensor14_link"/>
+  <joint name="bh_link2_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor15_link"/>
+  </joint>
+  <link name="bh_link2_sensor15_link"/>
+  <joint name="bh_link2_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor16_link"/>
+  </joint>
+  <link name="bh_link2_sensor16_link"/>
+  <joint name="bh_link2_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor17_link"/>
+  </joint>
+  <link name="bh_link2_sensor17_link"/>
+  <joint name="bh_link2_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor18_link"/>
+  </joint>
+  <link name="bh_link2_sensor18_link"/>
+  <joint name="bh_link2_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor19_link"/>
+  </joint>
+  <link name="bh_link2_sensor19_link"/>
+  <joint name="bh_link2_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor20_link"/>
+  </joint>
+  <link name="bh_link2_sensor20_link"/>
+  <joint name="bh_link2_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor21_link"/>
+  </joint>
+  <link name="bh_link2_sensor21_link"/>
+  <joint name="bh_link2_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor22_link"/>
+  </joint>
+  <link name="bh_link2_sensor22_link"/>
+  <joint name="bh_link2_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor23_link"/>
+  </joint>
+  <link name="bh_link2_sensor23_link"/>
+  <joint name="bh_link2_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor24_link"/>
+  </joint>
+  <link name="bh_link2_sensor24_link"/>
+  <joint name="bh_link3_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor1_link"/>
+  </joint>
+  <link name="bh_link3_sensor1_link"/>
+  <joint name="bh_link3_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor2_link"/>
+  </joint>
+  <link name="bh_link3_sensor2_link"/>
+  <joint name="bh_link3_sensor3_joint" type="fixed">
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+  </joint>
+  <link name="bh_link3_sensor3_link"/>
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+    <child link="bh_link3_sensor4_link"/>
+  </joint>
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor5_link"/>
+  </joint>
+  <link name="bh_link3_sensor5_link"/>
+  <joint name="bh_link3_sensor6_joint" type="fixed">
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor6_link"/>
+  </joint>
+  <link name="bh_link3_sensor6_link"/>
+  <joint name="bh_link3_sensor7_joint" type="fixed">
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor7_link"/>
+  </joint>
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+  <joint name="bh_link3_sensor8_joint" type="fixed">
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor8_link"/>
+  </joint>
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+  <joint name="bh_link3_sensor9_joint" type="fixed">
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor9_link"/>
+  </joint>
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+    <child link="bh_link3_sensor10_link"/>
+  </joint>
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+  </joint>
+  <link name="bh_link3_sensor11_link"/>
+  <joint name="bh_link3_sensor12_joint" type="fixed">
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor12_link"/>
+  </joint>
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor13_link"/>
+  </joint>
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+  <joint name="bh_link3_sensor14_joint" type="fixed">
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor14_link"/>
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor15_link"/>
+  </joint>
+  <link name="bh_link3_sensor15_link"/>
+  <joint name="bh_link3_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor16_link"/>
+  </joint>
+  <link name="bh_link3_sensor16_link"/>
+  <joint name="bh_link3_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor17_link"/>
+  </joint>
+  <link name="bh_link3_sensor17_link"/>
+  <joint name="bh_link3_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor18_link"/>
+  </joint>
+  <link name="bh_link3_sensor18_link"/>
+  <joint name="bh_link3_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor19_link"/>
+  </joint>
+  <link name="bh_link3_sensor19_link"/>
+  <joint name="bh_link3_sensor20_joint" type="fixed">
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+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor20_link"/>
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+  <link name="bh_link3_sensor20_link"/>
+  <joint name="bh_link3_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor21_link"/>
+  </joint>
+  <link name="bh_link3_sensor21_link"/>
+  <joint name="bh_link3_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 -0.005175"/>
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+    <child link="bh_link3_sensor22_link"/>
+  </joint>
+  <link name="bh_link3_sensor22_link"/>
+  <joint name="bh_link3_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor23_link"/>
+  </joint>
+  <link name="bh_link3_sensor23_link"/>
+  <joint name="bh_link3_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor24_link"/>
+  </joint>
+  <link name="bh_link3_sensor24_link"/>
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="ros_control">
+      <robotNamespace>/</robotNamespace>
+      <controlPeriod>0.001</controlPeriod>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+</robot>
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+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from bh_alone.urdf.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="bhand">
+  <!-- z-coordinate is not 0 because otherwise the hand base tilts when the simulation is started -->
+  <link name="base_link">
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+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="hand_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="hand_base_link"/>
+  </joint>
+  <link name="hand_base_link"/>
+  <joint name="bh_base_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="hand_base_link"/>
+    <child link="bh_base_link"/>
+  </joint>
+  <!-- HAND BASE_LINK (RED) -->
+  <link name="bh_base_link">
+    <inertial>
+      <mass value="1.0"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/palm_280.dae"/>
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.75 0.75 0.75 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/palm_280.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- finger 3 -->
+  <!-- finger 32 link -->
+  <link name="bh_finger_32_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_31_link and BH_finger_32_link -->
+  <joint name="bh_j32_joint" type="revolute">
+    <parent link="bh_base_link"/>
+    <child link="bh_finger_32_link"/>
+    <origin rpy="1.5708 0 1.5708" xyz="0 -0.05 0.0754"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j32_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j32_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j32">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 33 link -->
+  <link name="bh_finger_33_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger_tip.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger_tip.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_32_link and BH_finger_33_link -->
+  <joint name="bh_j33_joint" type="revolute">
+    <parent link="bh_finger_32_link"/>
+    <child link="bh_finger_33_link"/>
+    <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+    <axis xyz="0 0 -1"/>
+    <mimic joint="bh_j32_joint" multiplier="0.3442622950819672"/>
+    <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j33_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j33_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j33">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 1 -->
+  <!-- finger 11 link -->
+  <link name="bh_finger_11_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/knuckle.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/knuckle.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between BH_palm_link and BH_finger_11_link -->
+  <joint name="bh_j11_joint" type="revolute">
+    <parent link="bh_base_link"/>
+    <child link="bh_finger_11_link"/>
+    <origin rpy="0 0 -1.5708" xyz="0.025 0 0.0415"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0" upper="3.1416" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j11_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j11_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j11">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 12 link -->
+  <link name="bh_finger_12_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_11_link and BH_finger_12_link -->
+  <joint name="bh_j12_joint" type="revolute">
+    <parent link="bh_finger_11_link"/>
+    <child link="bh_finger_12_link"/>
+    <origin rpy="1.5708 0 0" xyz="-0.05 0 0.0339"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j12_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j12_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j12">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 13 link -->
+  <link name="bh_finger_13_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger_tip.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger_tip.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_12_link and BH_finger_13_link -->
+  <joint name="bh_j13_joint" type="revolute">
+    <parent link="bh_finger_12_link"/>
+    <child link="bh_finger_13_link"/>
+    <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+    <axis xyz="0 0 -1"/>
+    <mimic joint="bh_j12_joint" multiplier="0.3442622950819672"/>
+    <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j13_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j13_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j13">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 2 -->
+  <!-- finger 21 link -->
+  <link name="bh_finger_21_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/knuckle.dae"/>
+      </geometry>
+      <material name="Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/knuckle.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joint between BH_palm_link and BH_finger_21_link -->
+  <joint name="bh_j21_joint" type="revolute">
+    <parent link="bh_base_link"/>
+    <child link="bh_finger_21_link"/>
+    <origin rpy="0 0 -1.5708" xyz="-0.025 0 0.0415"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="bh_j11_joint" multiplier="1"/>
+    <limit effort="30.0" lower="0" upper="3.1416" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j21_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j21_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j21">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 12 link -->
+  <link name="bh_finger_22_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_21_link and BH_finger_22_link -->
+  <joint name="bh_j22_joint" type="revolute">
+    <parent link="bh_finger_21_link"/>
+    <child link="bh_finger_22_link"/>
+    <origin rpy="1.5708 -8.8281E-17 0" xyz="-0.05 0 0.0339"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j22_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j22_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j22">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <!-- finger 23 link -->
+  <link name="bh_finger_23_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger_tip.dae"/>
+      </geometry>
+      <material name="Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/finger_tip.dae"/>
+      </geometry>
+      <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+    </collision>
+  </link>
+  <!-- joint between BH_finger_22_link and BH_finger_23_link -->
+  <joint name="bh_j23_joint" type="revolute">
+    <parent link="bh_finger_22_link"/>
+    <child link="bh_finger_23_link"/>
+    <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+    <axis xyz="0 0 -1"/>
+    <mimic joint="bh_j22_joint" multiplier="0.3442622950819672"/>
+    <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+    <dynamics damping="100.0" friction="1.0"/>
+  </joint>
+  <transmission name="bh_j23_transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="bh_j23_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="bh_j23">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+      <motorTorqueConstant>1</motorTorqueConstant>
+    </actuator>
+  </transmission>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j11_joint</joint>
+      <mimicJoint>bh_j21_joint</mimicJoint>
+      <multiplier>1</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j12_joint</joint>
+      <mimicJoint>bh_j13_joint</mimicJoint>
+      <multiplier>0.344</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j22_joint</joint>
+      <mimicJoint>bh_j23_joint</mimicJoint>
+      <multiplier>0.344</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_mimic_plugin.so" name="mimic_plugin">
+      <joint>bh_j32_joint</joint>
+      <mimicJoint>bh_j33_joint</mimicJoint>
+      <multiplier>0.344</multiplier>
+    </plugin>
+  </gazebo>
+  <gazebo reference="bh_base_link">
+    <material>Gazebo/White</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_31_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_32_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_33_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_11_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_12_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_13_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_21_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_22_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <gazebo reference="bh_finger_23_link">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>False</turnGravityOff>
+  </gazebo>
+  <!-- Imaginary joints for transform from tactile sensors -->
+  <!-- Radian value obtained from graspit description of 40 degrees -->
+  <joint name="bh_finger_14_joint" type="fixed">
+    <parent link="bh_finger_13_link"/>
+    <child link="bh_finger_14_link"/>
+    <origin rpy="0 0 0.698132" xyz="0 0 0"/>
+  </joint>
+  <link name="bh_finger_14_link"/>
+  <joint name="bh_finger_24_joint" type="fixed">
+    <parent link="bh_finger_23_link"/>
+    <child link="bh_finger_24_link"/>
+    <origin rpy="0 0 0.698132" xyz="0 0 0"/>
+  </joint>
+  <link name="bh_finger_24_link"/>
+  <joint name="bh_finger_34_joint" type="fixed">
+    <parent link="bh_finger_33_link"/>
+    <child link="bh_finger_34_link"/>
+    <origin rpy="0 0 0.698132" xyz="0 0 0"/>
+  </joint>
+  <link name="bh_finger_34_link"/>
+  <!-- Auto generated tactile sensor links -->
+  <joint name="bh_palm_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_1_link"/>
+  </joint>
+  <link name="bh_palm_sensor_1_link"/>
+  <joint name="bh_palm_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_2_link"/>
+  </joint>
+  <link name="bh_palm_sensor_2_link"/>
+  <joint name="bh_palm_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_3_link"/>
+  </joint>
+  <link name="bh_palm_sensor_3_link"/>
+  <joint name="bh_palm_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_4_link"/>
+  </joint>
+  <link name="bh_palm_sensor_4_link"/>
+  <joint name="bh_palm_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_5_link"/>
+  </joint>
+  <link name="bh_palm_sensor_5_link"/>
+  <joint name="bh_palm_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.033 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_6_link"/>
+  </joint>
+  <link name="bh_palm_sensor_6_link"/>
+  <joint name="bh_palm_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_7_link"/>
+  </joint>
+  <link name="bh_palm_sensor_7_link"/>
+  <joint name="bh_palm_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_8_link"/>
+  </joint>
+  <link name="bh_palm_sensor_8_link"/>
+  <joint name="bh_palm_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_9_link"/>
+  </joint>
+  <link name="bh_palm_sensor_9_link"/>
+  <joint name="bh_palm_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_10_link"/>
+  </joint>
+  <link name="bh_palm_sensor_10_link"/>
+  <joint name="bh_palm_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_11_link"/>
+  </joint>
+  <link name="bh_palm_sensor_11_link"/>
+  <joint name="bh_palm_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.033 0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_12_link"/>
+  </joint>
+  <link name="bh_palm_sensor_12_link"/>
+  <joint name="bh_palm_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.033 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_13_link"/>
+  </joint>
+  <link name="bh_palm_sensor_13_link"/>
+  <joint name="bh_palm_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_14_link"/>
+  </joint>
+  <link name="bh_palm_sensor_14_link"/>
+  <joint name="bh_palm_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_15_link"/>
+  </joint>
+  <link name="bh_palm_sensor_15_link"/>
+  <joint name="bh_palm_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_16_link"/>
+  </joint>
+  <link name="bh_palm_sensor_16_link"/>
+  <joint name="bh_palm_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_17_link"/>
+  </joint>
+  <link name="bh_palm_sensor_17_link"/>
+  <joint name="bh_palm_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_18_link"/>
+  </joint>
+  <link name="bh_palm_sensor_18_link"/>
+  <joint name="bh_palm_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.033 -0.0055 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_19_link"/>
+  </joint>
+  <link name="bh_palm_sensor_19_link"/>
+  <joint name="bh_palm_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_20_link"/>
+  </joint>
+  <link name="bh_palm_sensor_20_link"/>
+  <joint name="bh_palm_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.011 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_21_link"/>
+  </joint>
+  <link name="bh_palm_sensor_21_link"/>
+  <joint name="bh_palm_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_22_link"/>
+  </joint>
+  <link name="bh_palm_sensor_22_link"/>
+  <joint name="bh_palm_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.011 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_23_link"/>
+  </joint>
+  <link name="bh_palm_sensor_23_link"/>
+  <joint name="bh_palm_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.022 -0.0165 0.075"/>
+    <parent link="bh_base_link"/>
+    <child link="bh_palm_sensor_24_link"/>
+  </joint>
+  <link name="bh_palm_sensor_24_link"/>
+  <joint name="bh_link1_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor1_link"/>
+  </joint>
+  <link name="bh_link1_sensor1_link"/>
+  <joint name="bh_link1_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor2_link"/>
+  </joint>
+  <link name="bh_link1_sensor2_link"/>
+  <joint name="bh_link1_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor3_link"/>
+  </joint>
+  <link name="bh_link1_sensor3_link"/>
+  <joint name="bh_link1_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor4_link"/>
+  </joint>
+  <link name="bh_link1_sensor4_link"/>
+  <joint name="bh_link1_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor5_link"/>
+  </joint>
+  <link name="bh_link1_sensor5_link"/>
+  <joint name="bh_link1_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor6_link"/>
+  </joint>
+  <link name="bh_link1_sensor6_link"/>
+  <joint name="bh_link1_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor7_link"/>
+  </joint>
+  <link name="bh_link1_sensor7_link"/>
+  <joint name="bh_link1_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor8_link"/>
+  </joint>
+  <link name="bh_link1_sensor8_link"/>
+  <joint name="bh_link1_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor9_link"/>
+  </joint>
+  <link name="bh_link1_sensor9_link"/>
+  <joint name="bh_link1_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor10_link"/>
+  </joint>
+  <link name="bh_link1_sensor10_link"/>
+  <joint name="bh_link1_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor11_link"/>
+  </joint>
+  <link name="bh_link1_sensor11_link"/>
+  <joint name="bh_link1_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor12_link"/>
+  </joint>
+  <link name="bh_link1_sensor12_link"/>
+  <joint name="bh_link1_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor13_link"/>
+  </joint>
+  <link name="bh_link1_sensor13_link"/>
+  <joint name="bh_link1_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor14_link"/>
+  </joint>
+  <link name="bh_link1_sensor14_link"/>
+  <joint name="bh_link1_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor15_link"/>
+  </joint>
+  <link name="bh_link1_sensor15_link"/>
+  <joint name="bh_link1_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor16_link"/>
+  </joint>
+  <link name="bh_link1_sensor16_link"/>
+  <joint name="bh_link1_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor17_link"/>
+  </joint>
+  <link name="bh_link1_sensor17_link"/>
+  <joint name="bh_link1_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor18_link"/>
+  </joint>
+  <link name="bh_link1_sensor18_link"/>
+  <joint name="bh_link1_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor19_link"/>
+  </joint>
+  <link name="bh_link1_sensor19_link"/>
+  <joint name="bh_link1_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor20_link"/>
+  </joint>
+  <link name="bh_link1_sensor20_link"/>
+  <joint name="bh_link1_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor21_link"/>
+  </joint>
+  <link name="bh_link1_sensor21_link"/>
+  <joint name="bh_link1_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 -0.005175"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor22_link"/>
+  </joint>
+  <link name="bh_link1_sensor22_link"/>
+  <joint name="bh_link1_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor23_link"/>
+  </joint>
+  <link name="bh_link1_sensor23_link"/>
+  <joint name="bh_link1_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0052"/>
+    <parent link="bh_finger_14_link"/>
+    <child link="bh_link1_sensor24_link"/>
+  </joint>
+  <link name="bh_link1_sensor24_link"/>
+  <joint name="bh_link2_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor1_link"/>
+  </joint>
+  <link name="bh_link2_sensor1_link"/>
+  <joint name="bh_link2_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor2_link"/>
+  </joint>
+  <link name="bh_link2_sensor2_link"/>
+  <joint name="bh_link2_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor3_link"/>
+  </joint>
+  <link name="bh_link2_sensor3_link"/>
+  <joint name="bh_link2_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor4_link"/>
+  </joint>
+  <link name="bh_link2_sensor4_link"/>
+  <joint name="bh_link2_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor5_link"/>
+  </joint>
+  <link name="bh_link2_sensor5_link"/>
+  <joint name="bh_link2_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor6_link"/>
+  </joint>
+  <link name="bh_link2_sensor6_link"/>
+  <joint name="bh_link2_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor7_link"/>
+  </joint>
+  <link name="bh_link2_sensor7_link"/>
+  <joint name="bh_link2_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor8_link"/>
+  </joint>
+  <link name="bh_link2_sensor8_link"/>
+  <joint name="bh_link2_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor9_link"/>
+  </joint>
+  <link name="bh_link2_sensor9_link"/>
+  <joint name="bh_link2_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor10_link"/>
+  </joint>
+  <link name="bh_link2_sensor10_link"/>
+  <joint name="bh_link2_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor11_link"/>
+  </joint>
+  <link name="bh_link2_sensor11_link"/>
+  <joint name="bh_link2_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor12_link"/>
+  </joint>
+  <link name="bh_link2_sensor12_link"/>
+  <joint name="bh_link2_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor13_link"/>
+  </joint>
+  <link name="bh_link2_sensor13_link"/>
+  <joint name="bh_link2_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor14_link"/>
+  </joint>
+  <link name="bh_link2_sensor14_link"/>
+  <joint name="bh_link2_sensor15_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor15_link"/>
+  </joint>
+  <link name="bh_link2_sensor15_link"/>
+  <joint name="bh_link2_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor16_link"/>
+  </joint>
+  <link name="bh_link2_sensor16_link"/>
+  <joint name="bh_link2_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor17_link"/>
+  </joint>
+  <link name="bh_link2_sensor17_link"/>
+  <joint name="bh_link2_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor18_link"/>
+  </joint>
+  <link name="bh_link2_sensor18_link"/>
+  <joint name="bh_link2_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor19_link"/>
+  </joint>
+  <link name="bh_link2_sensor19_link"/>
+  <joint name="bh_link2_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor20_link"/>
+  </joint>
+  <link name="bh_link2_sensor20_link"/>
+  <joint name="bh_link2_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor21_link"/>
+  </joint>
+  <link name="bh_link2_sensor21_link"/>
+  <joint name="bh_link2_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 -0.005175"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor22_link"/>
+  </joint>
+  <link name="bh_link2_sensor22_link"/>
+  <joint name="bh_link2_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor23_link"/>
+  </joint>
+  <link name="bh_link2_sensor23_link"/>
+  <joint name="bh_link2_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0052"/>
+    <parent link="bh_finger_24_link"/>
+    <child link="bh_link2_sensor24_link"/>
+  </joint>
+  <link name="bh_link2_sensor24_link"/>
+  <joint name="bh_link3_sensor1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor1_link"/>
+  </joint>
+  <link name="bh_link3_sensor1_link"/>
+  <joint name="bh_link3_sensor2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor2_link"/>
+  </joint>
+  <link name="bh_link3_sensor2_link"/>
+  <joint name="bh_link3_sensor3_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02225 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor3_link"/>
+  </joint>
+  <link name="bh_link3_sensor3_link"/>
+  <joint name="bh_link3_sensor4_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor4_link"/>
+  </joint>
+  <link name="bh_link3_sensor4_link"/>
+  <joint name="bh_link3_sensor5_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor5_link"/>
+  </joint>
+  <link name="bh_link3_sensor5_link"/>
+  <joint name="bh_link3_sensor6_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.02825 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor6_link"/>
+  </joint>
+  <link name="bh_link3_sensor6_link"/>
+  <joint name="bh_link3_sensor7_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor7_link"/>
+  </joint>
+  <link name="bh_link3_sensor7_link"/>
+  <joint name="bh_link3_sensor8_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor8_link"/>
+  </joint>
+  <link name="bh_link3_sensor8_link"/>
+  <joint name="bh_link3_sensor9_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.03425 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor9_link"/>
+  </joint>
+  <link name="bh_link3_sensor9_link"/>
+  <joint name="bh_link3_sensor10_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor10_link"/>
+  </joint>
+  <link name="bh_link3_sensor10_link"/>
+  <joint name="bh_link3_sensor11_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor11_link"/>
+  </joint>
+  <link name="bh_link3_sensor11_link"/>
+  <joint name="bh_link3_sensor12_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0105 0.04025 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor12_link"/>
+  </joint>
+  <link name="bh_link3_sensor12_link"/>
+  <joint name="bh_link3_sensor13_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor13_link"/>
+  </joint>
+  <link name="bh_link3_sensor13_link"/>
+  <joint name="bh_link3_sensor14_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor14_link"/>
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+  <link name="bh_link3_sensor14_link"/>
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+    <origin rpy="0 0 0" xyz="0.0095 0.04625 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor15_link"/>
+  </joint>
+  <link name="bh_link3_sensor15_link"/>
+  <joint name="bh_link3_sensor16_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor16_link"/>
+  </joint>
+  <link name="bh_link3_sensor16_link"/>
+  <joint name="bh_link3_sensor17_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor17_link"/>
+  </joint>
+  <link name="bh_link3_sensor17_link"/>
+  <joint name="bh_link3_sensor18_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.008 0.051 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor18_link"/>
+  </joint>
+  <link name="bh_link3_sensor18_link"/>
+  <joint name="bh_link3_sensor19_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor19_link"/>
+  </joint>
+  <link name="bh_link3_sensor19_link"/>
+  <joint name="bh_link3_sensor20_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor20_link"/>
+  </joint>
+  <link name="bh_link3_sensor20_link"/>
+  <joint name="bh_link3_sensor21_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.05425 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor21_link"/>
+  </joint>
+  <link name="bh_link3_sensor21_link"/>
+  <joint name="bh_link3_sensor22_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 -0.005175"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor22_link"/>
+  </joint>
+  <link name="bh_link3_sensor22_link"/>
+  <joint name="bh_link3_sensor23_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor23_link"/>
+  </joint>
+  <link name="bh_link3_sensor23_link"/>
+  <joint name="bh_link3_sensor24_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.003 0.056625 0.0052"/>
+    <parent link="bh_finger_34_link"/>
+    <child link="bh_link3_sensor24_link"/>
+  </joint>
+  <link name="bh_link3_sensor24_link"/>
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="ros_control">
+      <robotNamespace>/</robotNamespace>
+      <controlPeriod>0.001</controlPeriod>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+</robot>
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+        <created>Mon Jun 23 11:36:34 2014</created>
+        <modified>Mon Jun 23 11:36:34 2014</modified>
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