From 8442e63d3e270d7820dc335707a3f7a18d6ae3ea Mon Sep 17 00:00:00 2001
From: GuiHome <guihome@wanadoo.fr>
Date: Mon, 14 Jul 2014 03:30:22 +0200
Subject: [PATCH] Fixed dae models to use up_axis Y_UP (for OMPL to work)
 Collision model changed to avoid bad OMPL planning (spaces between links)
 Collision model now with multiple collision objects (now handled in hydro)
 such as cylinders and spheres to create capsules Enabled self_collision to
 not permit crossed fingers in gazebo

---
 sr_description/hand/model/F1.dae              |  2 +-
 sr_description/hand/model/F2.dae              |  2 +-
 sr_description/hand/model/F3.dae              |  2 +-
 sr_description/hand/model/TH1_z.dae           |  2 +-
 sr_description/hand/model/TH2_z.dae           |  2 +-
 sr_description/hand/model/TH3_z.dae           |  2 +-
 .../hand/model/biotacs/biotac_decimated.dae   |  2 +-
 .../model/biotacs/biotac_thumb_adapter.dae    |  2 +-
 .../hand/model/distal_ellipsoid.dae           |  2 +-
 .../hand/model/envelop_light/F1.dae           |  2 +-
 .../hand/model/envelop_light/F2.dae           |  2 +-
 .../hand/model/envelop_light/F3.dae           |  2 +-
 .../hand/model/envelop_light/TH1_z.dae        |  2 +-
 .../hand/model/envelop_light/TH2_z.dae        |  2 +-
 .../hand/model/envelop_light/TH3_z.dae        |  2 +-
 .../hand/model/envelop_light/forearm.dae      |  2 +-
 .../hand/model/envelop_light/knuckle.dae      |  2 +-
 .../hand/model/envelop_light/lfmetacarpal.dae |  2 +-
 .../hand/model/envelop_light/palm.dae         |  2 +-
 .../hand/model/envelop_light/wrist.dae        |  2 +-
 .../hand/model/envelop_standard/F1.dae        |  2 +-
 .../hand/model/envelop_standard/F2.dae        |  2 +-
 .../hand/model/envelop_standard/F3.dae        |  2 +-
 .../hand/model/envelop_standard/TH1_z.dae     |  2 +-
 .../hand/model/envelop_standard/TH2_z.dae     |  2 +-
 .../hand/model/envelop_standard/TH3_z.dae     |  2 +-
 .../hand/model/envelop_standard/forearm.dae   |  2 +-
 .../hand/model/envelop_standard/knuckle.dae   |  2 +-
 .../model/envelop_standard/lfmetacarpal.dae   |  2 +-
 .../hand/model/envelop_standard/palm.dae      |  2 +-
 .../hand/model/envelop_standard/wrist.dae     |  2 +-
 sr_description/hand/model/forearm.dae         |  2 +-
 sr_description/hand/model/forearm_muscle.dae  |  2 +-
 .../hand/model/forearm_muscle_disk.dae        |  2 +-
 sr_description/hand/model/knuckle.dae         |  2 +-
 sr_description/hand/model/lfmetacarpal.dae    |  2 +-
 sr_description/hand/model/palm.dae            |  2 +-
 sr_description/hand/model/wrist.dae           |  2 +-
 .../knuckle/edc_muscle_knuckle.urdf.xacro     |  4 +--
 .../xacro/finger/knuckle/knuckle.urdf.xacro   |  4 +--
 .../edc_muscle_lfmetacarpal.urdf.xacro        |  4 +--
 .../lfmetacarpal/lfmetacarpal.urdf.xacro      |  4 +--
 .../xacro/finger/middle/middle.urdf.xacro     | 21 +++++++++++---
 .../proximal/edc_muscle_proximal.urdf.xacro   |  9 +++---
 .../xacro/finger/proximal/proximal.urdf.xacro | 27 +++++++++---------
 .../xacro/palm/edc_muscle_palm.urdf.xacro     | 20 ++++++++++---
 .../hand/xacro/palm/palm.urdf.xacro           | 18 ++++++++++--
 .../hand/xacro/thumb/thbase.urdf.xacro        | 11 ++++----
 .../hand/xacro/thumb/thhub.urdf.xacro         | 11 ++++----
 .../hand/xacro/thumb/thmiddle.urdf.xacro      | 19 +++++++++----
 .../hand/xacro/thumb/thproximal.urdf.xacro    | 15 +++++-----
 .../hand/xacro/wrist/wrist.urdf.xacro         | 28 +++++++++++++++++--
 52 files changed, 173 insertions(+), 98 deletions(-)

diff --git a/sr_description/hand/model/F1.dae b/sr_description/hand/model/F1.dae
index 6be16f6a..99a22f1e 100644
--- a/sr_description/hand/model/F1.dae
+++ b/sr_description/hand/model/F1.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:16:01.949584</created>
 		<modified>2012-07-23T02:16:01.949597</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/F2.dae b/sr_description/hand/model/F2.dae
index 4565833e..bebe2e27 100644
--- a/sr_description/hand/model/F2.dae
+++ b/sr_description/hand/model/F2.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:15:44.246463</created>
 		<modified>2012-07-23T02:15:44.246477</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/F3.dae b/sr_description/hand/model/F3.dae
index c2ff09a5..63bebae3 100644
--- a/sr_description/hand/model/F3.dae
+++ b/sr_description/hand/model/F3.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:15:31.855069</created>
 		<modified>2012-07-23T02:15:31.855082</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/TH1_z.dae b/sr_description/hand/model/TH1_z.dae
index 7c087759..2b13d5b2 100644
--- a/sr_description/hand/model/TH1_z.dae
+++ b/sr_description/hand/model/TH1_z.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:13:47.090860</created>
 		<modified>2012-07-23T02:13:47.090873</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/TH2_z.dae b/sr_description/hand/model/TH2_z.dae
index 3a223e04..6810fd96 100644
--- a/sr_description/hand/model/TH2_z.dae
+++ b/sr_description/hand/model/TH2_z.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:14:04.601049</created>
 		<modified>2012-07-23T02:14:04.601062</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/TH3_z.dae b/sr_description/hand/model/TH3_z.dae
index c257bd29..bd0a601a 100644
--- a/sr_description/hand/model/TH3_z.dae
+++ b/sr_description/hand/model/TH3_z.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:14:18.666034</created>
 		<modified>2012-07-23T02:14:18.666047</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/biotacs/biotac_decimated.dae b/sr_description/hand/model/biotacs/biotac_decimated.dae
index 99e0d5f6..c49adace 100644
--- a/sr_description/hand/model/biotacs/biotac_decimated.dae
+++ b/sr_description/hand/model/biotacs/biotac_decimated.dae
@@ -8,7 +8,7 @@
     <created>2012-12-14T09:15:39</created>
     <modified>2012-12-14T09:15:39</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
+    <up_axis>Y_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">
diff --git a/sr_description/hand/model/biotacs/biotac_thumb_adapter.dae b/sr_description/hand/model/biotacs/biotac_thumb_adapter.dae
index 6386a98c..3c439413 100644
--- a/sr_description/hand/model/biotacs/biotac_thumb_adapter.dae
+++ b/sr_description/hand/model/biotacs/biotac_thumb_adapter.dae
@@ -8,7 +8,7 @@
     <created>2012-12-14T09:32:52</created>
     <modified>2012-12-14T09:32:52</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
+    <up_axis>Y_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">
diff --git a/sr_description/hand/model/distal_ellipsoid.dae b/sr_description/hand/model/distal_ellipsoid.dae
index a6aa8687..808cbd05 100644
--- a/sr_description/hand/model/distal_ellipsoid.dae
+++ b/sr_description/hand/model/distal_ellipsoid.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T01:48:41.413018</created>
 		<modified>2012-07-23T01:48:41.413036</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_geometries>
 		<geometry id="ellipsoid-Geometry" name="ellipsoid-Geometry">
diff --git a/sr_description/hand/model/envelop_light/F1.dae b/sr_description/hand/model/envelop_light/F1.dae
index a701a96e..4569da1b 100644
--- a/sr_description/hand/model/envelop_light/F1.dae
+++ b/sr_description/hand/model/envelop_light/F1.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:18:18.630014</created>
 		<modified>2012-07-23T02:18:18.630028</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_light/F2.dae b/sr_description/hand/model/envelop_light/F2.dae
index 89e12c6c..f7400377 100644
--- a/sr_description/hand/model/envelop_light/F2.dae
+++ b/sr_description/hand/model/envelop_light/F2.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:18:03.236589</created>
 		<modified>2012-07-23T02:18:03.236602</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_light/F3.dae b/sr_description/hand/model/envelop_light/F3.dae
index 8c9d6527..9f98d3c9 100644
--- a/sr_description/hand/model/envelop_light/F3.dae
+++ b/sr_description/hand/model/envelop_light/F3.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:17:30.699549</created>
 		<modified>2012-07-23T02:17:30.699562</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_light/TH1_z.dae b/sr_description/hand/model/envelop_light/TH1_z.dae
index 0102c90d..67e1644f 100644
--- a/sr_description/hand/model/envelop_light/TH1_z.dae
+++ b/sr_description/hand/model/envelop_light/TH1_z.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:19:57.817591</created>
 		<modified>2012-07-23T02:19:57.817614</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_light/TH2_z.dae b/sr_description/hand/model/envelop_light/TH2_z.dae
index f1e2ce54..8cd96d11 100644
--- a/sr_description/hand/model/envelop_light/TH2_z.dae
+++ b/sr_description/hand/model/envelop_light/TH2_z.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:19:43.659883</created>
 		<modified>2012-07-23T02:19:43.659896</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_light/TH3_z.dae b/sr_description/hand/model/envelop_light/TH3_z.dae
index 962aded9..18c5057a 100644
--- a/sr_description/hand/model/envelop_light/TH3_z.dae
+++ b/sr_description/hand/model/envelop_light/TH3_z.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:19:26.873500</created>
 		<modified>2012-07-23T02:19:26.873524</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_light/forearm.dae b/sr_description/hand/model/envelop_light/forearm.dae
index a56da667..d2236743 100644
--- a/sr_description/hand/model/envelop_light/forearm.dae
+++ b/sr_description/hand/model/envelop_light/forearm.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-09T16:31:07.703152</created>
 		<modified>2012-07-09T16:31:07.703174</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="Material-fx" name="Material-fx">
diff --git a/sr_description/hand/model/envelop_light/knuckle.dae b/sr_description/hand/model/envelop_light/knuckle.dae
index bcea25d1..f371f553 100644
--- a/sr_description/hand/model/envelop_light/knuckle.dae
+++ b/sr_description/hand/model/envelop_light/knuckle.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:18:42.789987</created>
 		<modified>2012-07-23T02:18:42.790010</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="osg2mat0-fx" name="osg2mat0-fx">
diff --git a/sr_description/hand/model/envelop_light/lfmetacarpal.dae b/sr_description/hand/model/envelop_light/lfmetacarpal.dae
index 199b743e..86331365 100644
--- a/sr_description/hand/model/envelop_light/lfmetacarpal.dae
+++ b/sr_description/hand/model/envelop_light/lfmetacarpal.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:19:08.920629</created>
 		<modified>2012-07-23T02:19:08.920641</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_light/palm.dae b/sr_description/hand/model/envelop_light/palm.dae
index 2cb5a63f..378c270a 100644
--- a/sr_description/hand/model/envelop_light/palm.dae
+++ b/sr_description/hand/model/envelop_light/palm.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:20:16.267352</created>
 		<modified>2012-07-23T02:20:16.267365</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_light/wrist.dae b/sr_description/hand/model/envelop_light/wrist.dae
index 118a20be..e26048ef 100644
--- a/sr_description/hand/model/envelop_light/wrist.dae
+++ b/sr_description/hand/model/envelop_light/wrist.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:20:30.787713</created>
 		<modified>2012-07-23T02:20:30.787736</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="osg2mat0-fx" name="osg2mat0-fx">
diff --git a/sr_description/hand/model/envelop_standard/F1.dae b/sr_description/hand/model/envelop_standard/F1.dae
index 6be16f6a..99a22f1e 100644
--- a/sr_description/hand/model/envelop_standard/F1.dae
+++ b/sr_description/hand/model/envelop_standard/F1.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:16:01.949584</created>
 		<modified>2012-07-23T02:16:01.949597</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_standard/F2.dae b/sr_description/hand/model/envelop_standard/F2.dae
index 4565833e..bebe2e27 100644
--- a/sr_description/hand/model/envelop_standard/F2.dae
+++ b/sr_description/hand/model/envelop_standard/F2.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:15:44.246463</created>
 		<modified>2012-07-23T02:15:44.246477</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_standard/F3.dae b/sr_description/hand/model/envelop_standard/F3.dae
index c2ff09a5..63bebae3 100644
--- a/sr_description/hand/model/envelop_standard/F3.dae
+++ b/sr_description/hand/model/envelop_standard/F3.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:15:31.855069</created>
 		<modified>2012-07-23T02:15:31.855082</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_standard/TH1_z.dae b/sr_description/hand/model/envelop_standard/TH1_z.dae
index 7c087759..2b13d5b2 100644
--- a/sr_description/hand/model/envelop_standard/TH1_z.dae
+++ b/sr_description/hand/model/envelop_standard/TH1_z.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:13:47.090860</created>
 		<modified>2012-07-23T02:13:47.090873</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_standard/TH2_z.dae b/sr_description/hand/model/envelop_standard/TH2_z.dae
index 3a223e04..6810fd96 100644
--- a/sr_description/hand/model/envelop_standard/TH2_z.dae
+++ b/sr_description/hand/model/envelop_standard/TH2_z.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:14:04.601049</created>
 		<modified>2012-07-23T02:14:04.601062</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_standard/TH3_z.dae b/sr_description/hand/model/envelop_standard/TH3_z.dae
index c257bd29..bd0a601a 100644
--- a/sr_description/hand/model/envelop_standard/TH3_z.dae
+++ b/sr_description/hand/model/envelop_standard/TH3_z.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:14:18.666034</created>
 		<modified>2012-07-23T02:14:18.666047</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_standard/forearm.dae b/sr_description/hand/model/envelop_standard/forearm.dae
index cc1ee3c4..9795e348 100644
--- a/sr_description/hand/model/envelop_standard/forearm.dae
+++ b/sr_description/hand/model/envelop_standard/forearm.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-09T16:29:53.272413</created>
 		<modified>2012-07-09T16:29:53.272436</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="Material-fx" name="Material-fx">
diff --git a/sr_description/hand/model/envelop_standard/knuckle.dae b/sr_description/hand/model/envelop_standard/knuckle.dae
index 08946f93..48e6abe3 100644
--- a/sr_description/hand/model/envelop_standard/knuckle.dae
+++ b/sr_description/hand/model/envelop_standard/knuckle.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:15:15.508647</created>
 		<modified>2012-07-23T02:15:15.508662</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="osg2mat0-fx" name="osg2mat0-fx">
diff --git a/sr_description/hand/model/envelop_standard/lfmetacarpal.dae b/sr_description/hand/model/envelop_standard/lfmetacarpal.dae
index 3bf723c7..ef12865e 100644
--- a/sr_description/hand/model/envelop_standard/lfmetacarpal.dae
+++ b/sr_description/hand/model/envelop_standard/lfmetacarpal.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:16:22.697136</created>
 		<modified>2012-07-23T02:16:22.697149</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_standard/palm.dae b/sr_description/hand/model/envelop_standard/palm.dae
index 00772733..e4c67edf 100644
--- a/sr_description/hand/model/envelop_standard/palm.dae
+++ b/sr_description/hand/model/envelop_standard/palm.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:03:42.155704</created>
 		<modified>2012-07-23T02:03:42.155716</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/envelop_standard/wrist.dae b/sr_description/hand/model/envelop_standard/wrist.dae
index 63fc448c..32276c25 100644
--- a/sr_description/hand/model/envelop_standard/wrist.dae
+++ b/sr_description/hand/model/envelop_standard/wrist.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:14:55.555034</created>
 		<modified>2012-07-23T02:14:55.555052</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="osg2mat0-fx" name="osg2mat0-fx">
diff --git a/sr_description/hand/model/forearm.dae b/sr_description/hand/model/forearm.dae
index cc1ee3c4..9795e348 100644
--- a/sr_description/hand/model/forearm.dae
+++ b/sr_description/hand/model/forearm.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-09T16:29:53.272413</created>
 		<modified>2012-07-09T16:29:53.272436</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="Material-fx" name="Material-fx">
diff --git a/sr_description/hand/model/forearm_muscle.dae b/sr_description/hand/model/forearm_muscle.dae
index 55008d82..62388ada 100644
--- a/sr_description/hand/model/forearm_muscle.dae
+++ b/sr_description/hand/model/forearm_muscle.dae
@@ -8,7 +8,7 @@
     <created>2013-02-21T11:19:02</created>
     <modified>2013-02-21T11:19:02</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
+    <up_axis>Y_UP</up_axis>
   </asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/forearm_muscle_disk.dae b/sr_description/hand/model/forearm_muscle_disk.dae
index cfc632bb..4522e30b 100644
--- a/sr_description/hand/model/forearm_muscle_disk.dae
+++ b/sr_description/hand/model/forearm_muscle_disk.dae
@@ -8,7 +8,7 @@
     <created>2013-02-21T11:51:39</created>
     <modified>2013-02-21T11:51:39</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
+    <up_axis>Y_UP</up_axis>
   </asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/knuckle.dae b/sr_description/hand/model/knuckle.dae
index 08946f93..48e6abe3 100644
--- a/sr_description/hand/model/knuckle.dae
+++ b/sr_description/hand/model/knuckle.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:15:15.508647</created>
 		<modified>2012-07-23T02:15:15.508662</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="osg2mat0-fx" name="osg2mat0-fx">
diff --git a/sr_description/hand/model/lfmetacarpal.dae b/sr_description/hand/model/lfmetacarpal.dae
index 3bf723c7..ef12865e 100644
--- a/sr_description/hand/model/lfmetacarpal.dae
+++ b/sr_description/hand/model/lfmetacarpal.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:16:22.697136</created>
 		<modified>2012-07-23T02:16:22.697149</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/palm.dae b/sr_description/hand/model/palm.dae
index 00772733..e4c67edf 100644
--- a/sr_description/hand/model/palm.dae
+++ b/sr_description/hand/model/palm.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:03:42.155704</created>
 		<modified>2012-07-23T02:03:42.155716</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="black_spec-fx" name="black_spec-fx">
diff --git a/sr_description/hand/model/wrist.dae b/sr_description/hand/model/wrist.dae
index 63fc448c..32276c25 100644
--- a/sr_description/hand/model/wrist.dae
+++ b/sr_description/hand/model/wrist.dae
@@ -11,7 +11,7 @@
 		<created>2012-07-23T02:14:55.555034</created>
 		<modified>2012-07-23T02:14:55.555052</modified>
 		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
+		<up_axis>Y_UP</up_axis>
 	</asset>
 	<library_effects>
 		<effect id="osg2mat0-fx" name="osg2mat0-fx">
diff --git a/sr_description/hand/xacro/finger/knuckle/edc_muscle_knuckle.urdf.xacro b/sr_description/hand/xacro/finger/knuckle/edc_muscle_knuckle.urdf.xacro
index 58d7fb69..abe20728 100644
--- a/sr_description/hand/xacro/finger/knuckle/edc_muscle_knuckle.urdf.xacro
+++ b/sr_description/hand/xacro/finger/knuckle/edc_muscle_knuckle.urdf.xacro
@@ -26,9 +26,9 @@
       <material name="LightGrey" />
       </visual>
       <collision>
-	<origin xyz="0 0 0" rpy="0 0 0" />
+	<origin xyz="0 0 0" rpy="0 1.5708 0" />
 	<geometry name="${link_prefix}knuckle_collision_geom">
-	  <box size="0.005 0.005 0.005" />
+	  <cylinder radius="0.007" length="0.014" />
 	</geometry>
       </collision>
     </link>
diff --git a/sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro b/sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro
index d57dd4b5..936c6fbd 100644
--- a/sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro
+++ b/sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro
@@ -26,9 +26,9 @@
       <material name="LightGrey" />
       </visual>
       <collision>
-	<origin xyz="0 0 0" rpy="0 0 0" />
+	<origin xyz="0 0 0" rpy="0 1.5708 0" />
 	<geometry name="${link_prefix}knuckle_collision_geom">
-	  <box size="0.005 0.005 0.005" />
+	  <cylinder radius="0.007" length="0.014" />
 	</geometry>
       </collision>
     </link>
diff --git a/sr_description/hand/xacro/finger/lfmetacarpal/edc_muscle_lfmetacarpal.urdf.xacro b/sr_description/hand/xacro/finger/lfmetacarpal/edc_muscle_lfmetacarpal.urdf.xacro
index 47e92907..b13f3ce0 100644
--- a/sr_description/hand/xacro/finger/lfmetacarpal/edc_muscle_lfmetacarpal.urdf.xacro
+++ b/sr_description/hand/xacro/finger/lfmetacarpal/edc_muscle_lfmetacarpal.urdf.xacro
@@ -36,9 +36,9 @@
         <material name="Grey" />
       </visual>
       <collision>
-          <origin xyz="0 0 0.04" rpy="0 0 0" />
+        <origin xyz="0 0 0.042" rpy="0 0 0" />
         <geometry name="lfmetacarpal_collision_geom">
-          <box size="0.008 0.008 0.03" />
+          <box size="0.018 0.024 0.048" />
         </geometry>
       </collision>
     </link>
diff --git a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro
index 2a243802..5d985080 100644
--- a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro
+++ b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro
@@ -36,9 +36,9 @@
         <material name="Grey" />
       </visual>
       <collision>
-          <origin xyz="0 0 0.04" rpy="0 0 0" />
+        <origin xyz="0 0 0.042" rpy="0 0 0" />
         <geometry name="lfmetacarpal_collision_geom">
-          <box size="0.008 0.008 0.03" />
+          <box size="0.018 0.024 0.048" />
         </geometry>
       </collision>
     </link>
diff --git a/sr_description/hand/xacro/finger/middle/middle.urdf.xacro b/sr_description/hand/xacro/finger/middle/middle.urdf.xacro
index 1b9f30b4..e3826f95 100644
--- a/sr_description/hand/xacro/finger/middle/middle.urdf.xacro
+++ b/sr_description/hand/xacro/finger/middle/middle.urdf.xacro
@@ -24,11 +24,23 @@
       </geometry>
       <material name="Grey" />
       </visual>
+    <collision>
+        <origin xyz="0 0 0.0125" rpy="0 0 0 " />
+        <geometry name="${link_prefix}middle_collision_geom">
+          <cylinder radius="0.007" length="0.025" />
+        </geometry>
+      </collision>
       <collision>
-	<origin xyz="0 0 0.0125" rpy="0 0 0" />
-	<geometry name="${link_prefix}middle_collision_geom">
-	  <box size="0.008 0.008 0.015" />
-	</geometry>
+        <origin xyz="0 0 0.0" rpy="0 0 0 " />
+        <geometry>
+          <sphere radius="0.007" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0 0.025" rpy="0 0 0 " />
+        <geometry>
+          <sphere radius="0.007" />
+        </geometry>
       </collision>
     </link>
 
@@ -46,6 +58,7 @@
 	  <bumperTopicName>contacts/${link_prefix}/middle</bumperTopicName>
         </plugin>
       </sensor>
+       <selfCollide>true</selfCollide>
       <material>LightGrey</material>
     </gazebo>
 
diff --git a/sr_description/hand/xacro/finger/proximal/edc_muscle_proximal.urdf.xacro b/sr_description/hand/xacro/finger/proximal/edc_muscle_proximal.urdf.xacro
index 88566e5f..528919c5 100644
--- a/sr_description/hand/xacro/finger/proximal/edc_muscle_proximal.urdf.xacro
+++ b/sr_description/hand/xacro/finger/proximal/edc_muscle_proximal.urdf.xacro
@@ -25,10 +25,10 @@
       <material name="Grey" />
       </visual>
       <collision>
-	<origin xyz="0 0 0.025" rpy="0 0 0 " />
-	<geometry name="proximal_collision_geom">
-	  <box size="0.008 0.008 0.04" />
-	</geometry>
+        <origin xyz="0 0 0.025" rpy="0 0 0 " />
+        <geometry name="${link_prefix}proximal_collision_geom">
+          <cylinder radius="0.007" length="0.040" />
+        </geometry>
       </collision>
     </link>
 
@@ -46,6 +46,7 @@
 	  <bumperTopicName>contacts/${link_prefix}/proximal</bumperTopicName>
         </plugin>
       </sensor>
+      <selfCollide>true</selfCollide>
       <material>LightGrey</material>
     </gazebo>
 
diff --git a/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro b/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro
index b5986e7a..28a1052e 100644
--- a/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro
+++ b/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro
@@ -12,23 +12,23 @@
 
     <link name="${link_prefix}proximal">
       <inertial>
-	<mass value="0.014" />
-	<origin xyz="0 0 0.0225" />
-	<inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"
-	izz="0.0" />
+        <mass value="0.014" />
+        <origin xyz="0 0 0.0225" />
+        <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"
+        izz="0.0" />
       </inertial>
       <visual>
-	<origin xyz="0 0 0" rpy="0 0 0" />
-	<geometry name="proximal_visual">
-      <mesh filename="package://sr_description/hand/model/F3.dae" scale="0.001 0.001 0.001" />
-      </geometry>
-      <material name="Grey" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry name="${link_prefix}proximal_visual">
+          <mesh filename="package://sr_description/hand/model/F3.dae" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="Grey" />
       </visual>
       <collision>
-	<origin xyz="0 0 0.025" rpy="0 0 0 " />
-	<geometry name="proximal_collision_geom">
-	  <box size="0.008 0.008 0.04" />
-	</geometry>
+        <origin xyz="0 0 0.025" rpy="0 0 0 " />
+        <geometry name="${link_prefix}proximal_collision_geom">
+          <cylinder radius="0.007" length="0.040" />
+        </geometry>
       </collision>
     </link>
 
@@ -46,6 +46,7 @@
 	  <bumperTopicName>contacts/${link_prefix}/proximal</bumperTopicName>
         </plugin>
       </sensor>
+       <selfCollide>true</selfCollide>
       <material>LightGrey</material>
     </gazebo>
 
diff --git a/sr_description/hand/xacro/palm/edc_muscle_palm.urdf.xacro b/sr_description/hand/xacro/palm/edc_muscle_palm.urdf.xacro
index 14381304..0f685358 100644
--- a/sr_description/hand/xacro/palm/edc_muscle_palm.urdf.xacro
+++ b/sr_description/hand/xacro/palm/edc_muscle_palm.urdf.xacro
@@ -35,12 +35,24 @@
 	</geometry>
 	<material name="Grey"/>
       </visual>
-      <collision>
-	<origin xyz="0.005 0 0.035" rpy="0 0 0" />
+        <collision>
+	<origin xyz="0.011 0 0.038" rpy="0 0 0" />
 	<geometry name="palm_collision_geom">
-	  <box size="0.05 0.02 0.07" />
+	  <box size="0.062 0.024 0.098" />
 	</geometry>
-      </collision>
+    </collision>
+    <collision>
+      <origin xyz="0.011 0 0.089" rpy="0 0 0" />
+	    <geometry>
+        <box size="0.018 0.024 0.004" />
+      </geometry>
+    </collision> 
+    <collision>
+      <origin xyz="-0.030 0 0.009" rpy="0 0 0" />
+	    <geometry>
+        <box size="0.020 0.024 0.040" />
+      </geometry>
+    </collision> 
     </link>
 
     <gazebo reference="palm">
diff --git a/sr_description/hand/xacro/palm/palm.urdf.xacro b/sr_description/hand/xacro/palm/palm.urdf.xacro
index a1f2d6a2..7e3d72ba 100644
--- a/sr_description/hand/xacro/palm/palm.urdf.xacro
+++ b/sr_description/hand/xacro/palm/palm.urdf.xacro
@@ -36,11 +36,23 @@
 	<material name="Grey"/>
       </visual>
       <collision>
-	<origin xyz="0.005 0 0.035" rpy="0 0 0" />
+	<origin xyz="0.011 0 0.038" rpy="0 0 0" />
 	<geometry name="palm_collision_geom">
-	  <box size="0.05 0.02 0.07" />
+	  <box size="0.062 0.024 0.098" />
 	</geometry>
-      </collision>
+    </collision>
+    <collision>
+      <origin xyz="0.011 0 0.089" rpy="0 0 0" />
+	    <geometry>
+        <box size="0.018 0.024 0.004" />
+      </geometry>
+    </collision> 
+    <collision>
+      <origin xyz="-0.030 0 0.009" rpy="0 0 0" />
+	    <geometry>
+        <box size="0.020 0.024 0.040" />
+      </geometry>
+    </collision> 
     </link>
 
     <gazebo reference="palm">
diff --git a/sr_description/hand/xacro/thumb/thbase.urdf.xacro b/sr_description/hand/xacro/thumb/thbase.urdf.xacro
index d10aa28b..aeb57019 100644
--- a/sr_description/hand/xacro/thumb/thbase.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thbase.urdf.xacro
@@ -37,12 +37,12 @@
       <material name="shadow_thbase_material">
 	  <color rgba="0.5 0.5 0.5 1.0"/>
 	</material>
-      </visual>
-      <collision>
-	<origin xyz="0 0 0" rpy="0 0 0 " />
+      </visual> 
+       <collision>
+        <origin xyz="0 0 0.0" rpy="0 0 0 " />
 	<geometry name="thbase_collision_geom">
-	  <box size="0.001 0.001 0.001" />
-	</geometry>
+          <sphere radius="0.011" />
+        </geometry>
       </collision>
     </link>
 
@@ -60,6 +60,7 @@
 	  <bumperTopicName>contacts/th/base</bumperTopicName>
         </plugin>
       </sensor>
+       <selfCollide>false</selfCollide>
       <material>LightGrey</material>
     </gazebo>
 
diff --git a/sr_description/hand/xacro/thumb/thhub.urdf.xacro b/sr_description/hand/xacro/thumb/thhub.urdf.xacro
index 0fffd1b8..3c609ed1 100644
--- a/sr_description/hand/xacro/thumb/thhub.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thhub.urdf.xacro
@@ -26,11 +26,11 @@
 	  <color rgba="0.7 0.7 0.7 1.0"/>
 	</material>
       </visual>
-      <collision>
-	<origin xyz="0 0 0" rpy="0 0 0 " />
-	<geometry name="thhub_collision_geom">
-	  <box size="0.001 0.001 0.001" />
-	</geometry>
+            <collision>
+        <origin xyz="0 0 0.0" rpy="0 0 0 " />
+       <geometry name="thhub_collision_geom">
+          <sphere radius="0.010" />
+        </geometry>
       </collision>
     </link>
 
@@ -48,6 +48,7 @@
 	  <bumperTopicName>contacts/th/hub</bumperTopicName>
         </plugin>
       </sensor>
+       <selfCollide>true</selfCollide>
       <material>LightGrey</material>
     </gazebo>
 
diff --git a/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro b/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro
index 6af040ca..c60b84c2 100644
--- a/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro
@@ -26,12 +26,20 @@
 	  <color rgba="0.2 0.2 0.2 1.0"/>
 	</material>
       </visual>
+     
       <collision>
-	<origin xyz="0 0 0.016" rpy="0 0 0 " />
-	<geometry name="thmiddle_collision_geom">
-	  <box size="0.008 0.008 0.015" />
-	</geometry>
+        <origin xyz="0 0 0.016" rpy="0 0 0 " />
+        <geometry name="thmiddle_collision_geom">
+          <cylinder radius="0.011" length="0.031" />
+        </geometry>
       </collision>
+      <collision>
+        <origin xyz="0 0 0.032" rpy="0 0 0 " />
+        <geometry>
+          <sphere radius="0.010" />
+        </geometry>
+      </collision> 
+      
     </link>
 
     <gazebo reference="thmiddle">
@@ -47,7 +55,8 @@
 	  <frameName>thmiddle</frameName>
 	  <bumperTopicName>contacts/th/middle</bumperTopicName>
         </plugin>
-      </sensor>
+      </sensor> 
+      <selfCollide>true</selfCollide>
       <material>LightGrey</material>
     </gazebo>
 
diff --git a/sr_description/hand/xacro/thumb/thproximal.urdf.xacro b/sr_description/hand/xacro/thumb/thproximal.urdf.xacro
index a61d71de..4ac90084 100644
--- a/sr_description/hand/xacro/thumb/thproximal.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thproximal.urdf.xacro
@@ -36,13 +36,13 @@
       <material name="shadow_thproximal_material">
 	  <color rgba="0.2 0.2 0.2 1.0"/>
 	</material>
-      </visual>
-      <collision>
-	<origin xyz="0 0 0.019" rpy="0 0 0" />
-	<geometry name="thproximal_collision_geom">
-	  <box size="0.008 0.008 0.020" />
-	</geometry>
-      </collision>
+      </visual>   
+       <collision>
+        <origin xyz="0 0 0.020" rpy="0 0 0 " />
+        <geometry name="thproximal_collision_geom">
+          <cylinder radius="0.012" length="0.018" />
+        </geometry>
+      </collision>      
     </link>
 
     <gazebo reference="thproximal">
@@ -59,6 +59,7 @@
 	  <bumperTopicName>contacts/th/proximal</bumperTopicName>
         </plugin>
       </sensor>
+       <selfCollide>false</selfCollide>
       <material>LightGrey</material>
     </gazebo>
 
diff --git a/sr_description/hand/xacro/wrist/wrist.urdf.xacro b/sr_description/hand/xacro/wrist/wrist.urdf.xacro
index c2a40714..885ab85c 100644
--- a/sr_description/hand/xacro/wrist/wrist.urdf.xacro
+++ b/sr_description/hand/xacro/wrist/wrist.urdf.xacro
@@ -35,11 +35,35 @@
 	<material name="LightGrey" />
       </visual>
       <collision>
-	<origin xyz="0 0 0" rpy="0 0 0" />
+	<origin xyz="0 0 0" rpy="1.5708 1.5708 0 " />
 	<geometry name="wrist_collision_geom">
-	  <box size="0.02 0.02 0.02" />
+	  <cylinder radius="0.0135" length="0.030" />
+	</geometry>
+      </collision>
+      <collision>
+	<origin xyz="-0.026 0 0.034" rpy="0 1.5708 0" />
+	<geometry>
+	 <cylinder radius="0.011" length="0.010" />
 	</geometry>
       </collision>
+      <collision>
+	<origin xyz="0.031 0 0.034" rpy="0 1.5708 0" />
+	<geometry>
+	 <cylinder radius="0.011" length="0.010" />
+	</geometry>
+      </collision>
+       <collision>
+	<origin xyz="-0.021 0 0.011" rpy="0 0.7854 0" />
+	<geometry>
+	  <box size="0.027 0.018 0.010" />
+	</geometry>
+      </collision>
+      <collision>
+	<origin xyz="0.026 0 0.010" rpy="0 -0.7854 0" />
+	<geometry>
+	  <box size="0.027 0.018 0.010" />
+	</geometry>
+      </collision> 
     </link>
     <gazebo reference="wrist">
       <material>PR2/Grey2</material>