commit fae881649b0620a066bea6a7615af1e8f6ac2341
Author: lxp <2770281812@qq.com>
Date:   Tue Jun 30 10:42:11 2026 +0800

    init

diff --git a/Readme.md b/Readme.md
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+# 1. LinkerFFG Glove
+
+## 1.1 Product Introduction
+For specific product introduction, please refer to the calibration example description contained within
+Attachment 1: Linker FFG (FFG01) Product Instruction Manual
+
+## 1.2 Software Usage
+This product provides ROS1 and ROS2 SDK packages under Ubuntu, working together with Linkerhand's ROS1 SDK and ROS2 SDK to achieve teleoperation actions
+For specific usage, please jump to Chapter 4: Teleoperation Retargeting System
+
+## 1.3 Communication Protocol
+For specific product introduction, please refer to Attachment 2: Linker FFG (FFG01) Communication Protocol
+
+---
+
+# 2. Teleoperation SDK System
+
+## 2.1 System Introduction
+This system's retargeting program is developed based on the ROS1/ROS2 platform, consisting of one node, four publisher topics, and two subscription topics
+The Linker FFG glove pushes data to the retargeting program via serial port protocol
+
+### 2.1.1 Download Address
+https://github.com/linker-bot/linkerhand-ros-teleo
+Please contact customer service to obtain the latest SDK
+
+### 2.1.2 Installing the Teleoperation Retargeting Program
+The teleoperation retargeting program is provided in src form, therefore requiring users to compile it themselves for use on different platforms. The teleoperation retargeting program provides a ROS2 version; the ROS1 version is still under development
+
+Copy src to the workspace, then compile
+```bash
+colcon build --symlink-install
+```
+
+There may be permission issues during the process preventing execution; use the following command
+```bash
+chmod 777 -R *
+```
+
+### 2.1.3 Program Configuration
+Enter the ls command in this directory
+```bash
+cd src/linkerhand_retarget/linkerhand_retarget/config
+ls -1
+```
+After entering the above command, you should normally enter the config directory. After `ls -1`, you should see the following list
+```
+base_config.yml
+body_custom_pose.yml
+body_unity_pose.yml
+hand_config.yml
+human_hand_info.yml
+linker_hand_info.yml
+model_config.yml
+retarget_config.yml
+speed_config.yml
+```
+
+The only configuration file we need to modify is `base_config.yml`; other configuration files must not be modified.
+
+The following is an introduction to the configuration content in `base_config.yml`:
+
+**1. Configure Robot Hand Type**
+```yaml
+robotname_r: l10
+robotname_l: l10
+```
+- LinkerHand_L10 series hands should be configured as: `l10`
+- LinkerHand_L20 series hands should be configured as: `l20`
+- LinkerHand_O7 series hands should be configured as: `o7`
+- LinkerHand_T25 series hands should be configured as: `t25`
+- LinkerHand_L25 series hands should be configured as: `l25`
+- LinkerHand_L6 series hands should be configured as: `l6`
+- LinkerHand_O6 series hands should be configured as: `o6`
+
+**Note:** All the above must be in lowercase; uppercase will not be correctly recognized.
+
+**2. Configure Data Printing**
+```yaml
+debug:
+  joint_pub_debug: false
+  joint_motor_debug_r: true
+  joint_motor_debug_l: false
+```
+- `joint_pub_debug`: Set to true to print the content after Topic Pub, refresh rate is slow, can display left and right hands simultaneously
+- `joint_motor_debug_r`: Set to true to quickly refresh the output data of the right hand, range 255-0, representing the change from open to closed
+- `joint_motor_debug_l`: Set to true to quickly refresh the output data of the left hand, range 255-0, representing the change from open to closed
+
+**3. Configure Data Source**
+```yaml
+motion_type: linkerforce
+```
+- `motion_type`: When using the LinkerFFG glove, set to `linkerforce`, `motion_device` does not need to be set
+
+### 2.1.4 Program Launch (ROS2 Version)
+Next, execute the following command to confirm the USB device list on your device. Then insert the 2 force-feedback gloves, execute the command again, and confirm the refreshed USB device numbers. Take `/dev/ttyUSB0` and `/dev/ttyUSB1` as examples:
+```bash
+ls /dev/ttyUSB*
+sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB1
+```
+
+Then execute
+```bash
+# There are two launch modes,
+# One with calibration. Must be executed for the first time without calibration
+ros2 run linkerhand_retarget handretarget --ros-args -p calibration := True
+# One normal launch, calibration not executed by default
+ros2 run linkerhand_retarget handretarget 
+```
+
+**Notes:**
+For customer convenience, a startup script is provided in the same directory as `src`, named `startup_linkerforce.sh`
+
+```bash
+#!/bin/bash
+# LinkerForce Glove Teleoperation Startup Script
+
+# Set serial port permissions
+sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB1
+
+# source ROS workspace (please enter the correct directory)
+source ~/project/linkerhand_telop_ws/ros2/v2.8.7/install/setup.bash
+
+# Launch program (forced calibration)
+ros2 run linkerhand_retarget handretarget --ros-args -p calibration:=True
+
+# Launch without calibration
+# ros2 run linkerhand_retarget handretarget 
+```
+
+After editing, launch it like this
+```bash
+./startup_linkerforce.sh
+# If you encounter Tab not recognized, grant permissions
+sudo chmod a+x ./startup_linkerforce.sh
+```
+
+### 2.1.5 Program Launch (ROS1 Version)
+Next, execute the following command to confirm the USB device list on your device. Then insert the 2 force-feedback gloves, execute the command again, and confirm the refreshed USB device numbers. Take `/dev/ttyUSB0` and `/dev/ttyUSB1` as examples:
+```bash
+ls /dev/ttyUSB*
+sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB1
+```
+
+Then execute
+```bash
+# There are two launch modes,
+# One with calibration. Must be executed for the first time without calibration
+rosrun ros_linkerhand_retarget handretarget.py _calibrate:=true
+# One normal launch, calibration not executed by default
+rosrun ros_linkerhand_retarget handretarget.py
+```
+
+**Notes:**
+For customer convenience, a startup script is provided in the same directory as `src`, named `startup_linkerforce.sh`
+
+```bash
+#!/bin/bash
+# LinkerForce Glove Teleoperation Startup Script
+
+# Set serial port permissions
+sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB1
+
+# source ROS workspace (please enter the correct directory)
+source ~/linkerhand_telop/ros1/v2.8.6/install/setup.bash
+
+# Launch program (forced calibration)
+rosrun ros_linkerhand_retarget handretarget.py _calibrate:=true
+
+# Launch without calibration
+# rosrun ros_linkerhand_retarget handretarget.py
+```
+
+After editing, launch it like this
+```bash
+./startup_linkerforce.sh
+# If you encounter Tab not recognized, grant permissions
+sudo chmod a+x ./startup_linkerforce.sh
+```
+
+## 2.2 Topic Description
+The working principle of the SDK is to clean and organize the data transmitted from the upper computer, then distribute the data uniformly via Topics. Therefore, Topics are the data transfer stations and an important basis for judging whether the teleoperation is working properly.
+
+- ROS1 command: `rostopic list`
+- ROS2 command: `ros2 topic list`
+
+**1. ROS2 command:**
+```bash
+ros2 topic echo /cb_left_hand_control_cmd
+# or
+ros2 topic echo /cb_right_hand_control_cmd
+```
+
+### Data Description
+
+#### L25 Robotic Hand (21 DOF)
+| Joint | Finger | Action | Default Value |
+|-------|--------|--------|---------------|
+| joint1 | Thumb | Proximal Flexion | 255 |
+| joint2 | Index | Proximal Flexion | 255 |
+| joint3 | Middle | Proximal Flexion | 255 |
+| joint4 | Ring | Proximal Flexion | 255 |
+| joint5 | Pinky | Proximal Flexion | 255 |
+| joint6 | Thumb | Abduction | 255 |
+| joint7 | Index | Abduction | 128 |
+| joint8 | Middle | Abduction | 128 |
+| joint9 | Ring | Abduction | 128 |
+| joint10 | Pinky | Abduction | 128 |
+| joint11 | Thumb | Rotation | 255 |
+| joint12 | Reserved | - | - |
+| joint13 | Reserved | - | - |
+| joint14 | Reserved | - | - |
+| joint15 | Reserved | - | - |
+| joint16 | Thumb | Distal Flexion | 255 |
+| joint17 | Index | Distal Flexion | 255 |
+| joint18 | Middle | Distal Flexion | 255 |
+| joint19 | Ring | Distal Flexion | 255 |
+| joint20 | Pinky | Distal Flexion | 255 |
+| joint21 | Thumb | Tip Flexion | 255 |
+| joint22 | Index | Tip Flexion | 255 |
+| joint23 | Middle | Tip Flexion | 255 |
+| joint24 | Ring | Tip Flexion | 255 |
+| joint25 | Pinky | Tip Flexion | 255 |
+
+#### L20 Robotic Hand (16 DOF)
+| Joint | Finger | Action | Default Value |
+|-------|--------|--------|---------------|
+| joint1 | Thumb | Proximal Flexion | 255 |
+| joint2 | Index | Proximal Flexion | 255 |
+| joint3 | Middle | Proximal Flexion | 255 |
+| joint4 | Ring | Proximal Flexion | 255 |
+| joint5 | Pinky | Proximal Flexion | 255 |
+| joint6 | Thumb | Abduction | 255 |
+| joint7 | Index | Abduction | 128 |
+| joint8 | Middle | Abduction | 128 |
+| joint9 | Ring | Abduction | 128 |
+| joint10 | Pinky | Abduction | 128 |
+| joint11 | Thumb | Rotation | 255 |
+| joint12 | Reserved | - | - |
+| joint13 | Reserved | - | - |
+| joint14 | Reserved | - | - |
+| joint15 | Reserved | - | - |
+| joint16 | Thumb | Tip Flexion | 255 |
+| joint17 | Index | Tip Flexion | 255 |
+| joint18 | Middle | Tip Flexion | 255 |
+| joint19 | Ring | Tip Flexion | 255 |
+| joint20 | Pinky | Tip Flexion | 255 |
+
+#### L10 Robotic Hand (10 DOF)
+| Joint | Finger | Action | Default Value |
+|-------|--------|--------|---------------|
+| joint1 | Thumb | Proximal Flexion | 255 |
+| joint2 | Thumb | Abduction | 128 |
+| joint3 | Index | Proximal Flexion | 255 |
+| joint4 | Middle | Proximal Flexion | 255 |
+| joint5 | Ring | Proximal Flexion | 255 |
+| joint6 | Pinky | Proximal Flexion | 255 |
+| joint7 | Index | Abduction | 128 |
+| joint8 | Ring | Abduction | 128 |
+| joint9 | Pinky | Abduction | 128 |
+| joint10 | Thumb | Rotation | 255 |
+
+#### O7 Robotic Hand (7 DOF)
+| Joint | Finger | Action | Default Value |
+|-------|--------|--------|---------------|
+| joint1 | Thumb | Proximal Flexion | 255 |
+| joint2 | Thumb | Abduction | 128 |
+| joint3 | Index | Proximal Flexion | 255 |
+| joint4 | Middle | Proximal Flexion | 255 |
+| joint5 | Ring | Proximal Flexion | 255 |
+| joint6 | Pinky | Proximal Flexion | 255 |
+| joint7 | Thumb | Rotation | 255 |
+
+#### O6/L6 Robotic Hand (7 DOF)
+| Joint | Finger | Action | Default Value |
+|-------|--------|--------|---------------|
+| joint1 | Thumb | Proximal Flexion | 255 |
+| joint2 | Thumb | Abduction | 128 |
+| joint3 | Index | Proximal Flexion | 255 |
+| joint4 | Middle | Proximal Flexion | 255 |
+| joint5 | Ring | Proximal Flexion | 255 |
+| joint6 | Pinky | Proximal Flexion | 255 |
+
+## 2.3 Troubleshooting Self-Check
+
+### 2.3.1 Network Issues
+The teleoperation and control devices are connected via the network. Network abnormalities can cause devices to malfunction. First, check if the network cable connections are correct, ensure that both IPs can ping each other, and confirm that the corresponding ports are open on the firewall.
+
+### 2.3.2 Topic Anomalies
+Under normal network conditions, you can confirm whether topics exist on other network devices using commands.
+Refer to section 2.2 Topic Description for details.
+
+## 2.4 Mapping Parameter Settings
+
+### 2.4.1 Principle
+The mapping system has 3 modes
+
+| Mapping Mode | English Equivalent | Chinese Equivalent | Applicable Scenario |
+|--------------|--------------------|--------------------|---------------------|
+| Three-State Mapping | origin-opose-fist | Open Hand-O Pose-Fist | Aims to balance the maximum range of the robotic hand while satisfying pinch gestures. Suitable for most mapping requirements. |
+| Dual-End Mapping | origin-fist | Open Hand-Fist | Maximizes the full range of the robotic hand to the greatest extent. |
+| Pinch Mapping | origin-opose- | Open Hand-O Pose | Targets pinch gestures primarily, aiming to improve granularity for grasping actions. |
+
+### 2.4.2 Configuration Files
+This mapping system configures parameter binding for the robotic hand. The mapping configuration directory is located at:
+```
+~/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config
+```
+
+Currently provided mapping parameter packages are as follows:
+```
+g20_config.py
+l10_config.py
+l20_config.py
+l6_config.py
+o6_config.py
+o7_config.py
+```
+
+### 2.4.3 Configuration Introduction
+The following uses `l6_config.py` as an example.
+
+#### 2.4.3.1 Finger Configuration Constant `FINGER_CONFIGS`
+
+##### 2.4.3.1.1 Common Constant Table
+(Content omitted)
+
+##### 2.4.3.1.2 `reverse_motion` Attribute
+Reverse signal: Default is `False`
+
+##### 2.4.3.1.3 `dynamic_weight` Attribute
+Dynamic weight: Used for detailed expression within intervals. Default is `None`, not enabled in this version.
+
+##### 2.4.3.1.4 `extended_mapping` Attribute
+Extended mapping configuration
+```python
+'extended_mapping': {    # New extended mapping configuration
+    'enabled': True,
+    'scale_factor': 1.2,  # Scaling factor, default 1.0
+    'extended_exp_factor': 80  # New: Extension index parameter
+}
+```
+- `enabled`: Enabled only for pinch mapping; `False` means disabled.
+- `scale_factor`: Scaling factor, used to quickly lock onto the O-Pose position.
+- `extended_exp_factor`: Extension parameter, used for continuation actions after the O-Pose. A smaller value makes it harder to reach the mechanical limits of the robotic hand, allowing for more detailed expression of grasping. A larger value makes it easier to quickly reach the drive joint limit positions.
+
+#### 2.4.3.2 Mapping Order `MAPPING_ORDER`
+Taking L6 as an example, indicates the priority order of processed joints
+```python
+MAPPING_ORDER = [
+    'thumb_abduction', 'thumb_flexion', 
+    'index', 'middle', 'ring', 'pinky'
+]
+```
+
+#### 2.4.3.3 State Configuration `STATE_CONFIG` (Not Enabled)
+
+#### 2.4.3.4 Robotic Hand OPOSE Calibration Position: `ROBOT_OPOSE_LEFT`
+Taking the L6 configuration as an example, the following angles correspond to the OPOSE position of the left robotic hand. Note that the following order corresponds to the URDF sequence.
+```python
+ROBOT_OPOSE_LEFT = [
+    1.4, 0.54, 0.0, 0.38, 0.0, 0.38, 0.0, 0.38, 0.0, 0.38, 0.0
+]
+```
+
+#### 2.4.3.5 Robotic Hand OPOSE Calibration Position: `ROBOT_OPOSE_RIGHT`
+Taking the L6 configuration as an example, the following angles correspond to the OPOSE position of the right robotic hand. Note that the following order corresponds to the URDF sequence.
+```python
+ROBOT_OPOSE_RIGHT = [
+    1.4, 0.54, 0.0, 0.38, 0.0, 0.38, 0.0, 0.38, 0.0, 0.38, 0.0
+]
+```
+
+### 2.4.4 Robotic Hand Calibration
+Sections 2.4.3.4 and 2.4.3.5 introduced the OPOSE calibration positions for the left and right robotic hands respectively. These are used to handle discrepancies between the current robotic hand position and the URDF. When using for the first time, modifications need to be made in the following code.
+
+Path: `./src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand`
+
+Taking the L6 robotic hand as an example, after opening `linkerforce_l6.py`, around line 149:
+```python
+if self.calibrationoriginal is not None 
+and self.calibrationfistpose is not None 
+and self.calibrationopose is not None:
+    # for i in range(20):
+    #     self.multi_state_mapper.debug_value[i] = joint_arc[i]
+    # arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)   # Comment out
+    arc_value = ROBOT_OPOSE_RIGHT          # Enable calibration
+    qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+    qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+    qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+    qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+    qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+    qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]
+```
+
+Rewrite it as shown in the example above to enable calibration for the right robotic hand. After launching, the robotic hand will be fixed at the current angle according to the mapped angle.
+
+The corresponding section for the left hand is around line 360:
+```python
+if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+    # for i in range(20):
+    #     self.multi_state_mapper.debug_value[i] = joint_arc[i]
+    # arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc) # Comment out
+    # Enable calibration
+    arc_value = ROBOT_OPOSE_LEFT
+    qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+    qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+    qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+    qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+    qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+    qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]
+```
+
+Rewrite it as shown in the example above to enable calibration for the right robotic hand. After launching, the robotic hand will be fixed at the current angle according to the mapped angle.
+
+Once both left and right hands have reached the desired pinch position, you can restore the original state and use the teleoperation system normally.
\ No newline at end of file
diff --git a/Readme_ZH.md b/Readme_ZH.md
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+# 1. LinkerFFG手套
+
+## 1.1 产品介绍
+本产品的具体介绍参考，内含标定示例说明
+附件1、Linker FFG(FFG01)产品说明手册
+
+## 1.2 软件使用
+本产品提供了Ubuntu下的ROS1和ROS2 SDK包，配合Linkerhand的ROS1 SDK，ROS2 SDK实现遥操作
+具体使用请跳转到第四章节 遥操重定向系统
+
+## 1.3 通讯协议
+本产品的具体介绍参考附件2、Linker FFG(FFG01) 通讯协议
+
+---
+
+# 2. 遥操SDK系统
+
+## 2.1 系统介绍
+本系统重定向程序是基于ROS1/ROS2平台开发的，由一个节点和四个publisher的话题以及两个subscription的话题组成
+Linker FFG手套通过串口协议进行数据推送到重定向程序
+
+### 2.1.1 下载地址
+https://github.com/linker-bot/linkerhand-ros-teleo
+请联系客服获取最新SDK
+
+### 2.1.2 安装遥操重定向程序
+遥操重定向程序以src的形式提供，因此需要用户自行编译，才可以在多个不同的平台下使用，遥操重定向程序提供了ROS2版本,ROS1版尚在开发中
+
+将src复制到工作空间中，然后进行编译
+```bash
+colcon build --symlink-install
+```
+
+过程中可能会存在权限不足的问题导致无法运行，使用以下代码
+```bash
+chmod 777 -R *
+```
+
+### 2.1.3 程序配置
+该目录输入ls命令
+```bash
+cd src/linkerhand_retarget/linkerhand_retarget/config
+ls -1
+```
+输入以上命令后正常应该进入config的目录，ls -1后即可看到以下清单
+```
+base_config.yml
+body_custom_pose.yml
+body_unity_pose.yml
+hand_config.yml
+human_hand_info.yml
+linker_hand_info.yml
+model_config.yml
+retarget_config.yml
+speed_config.yml
+```
+
+其中我们要唯一修改的配置文件是base_config.yml，其他配置文件均不可修改
+
+以下是针对base_config.yml的配置内容展开进行介绍：
+
+**1. 配置机械手类型**
+```yaml
+robotname_r: l10
+robotname_l: l10
+```
+- LinkerHand_L10系列的手要配置成:l10
+- LinkerHand_L20系列的手要配置成:l20
+- LinkerHand_O7系列的手要配置成:o7
+- LinkerHand_T25系列的手要配置成:t25
+- LinkerHand_L25系列的手要配置成:l25
+- LinkerHand_L6系列的手要配置成:l6
+- LinkerHand_O6系列的手要配置成:o6
+
+注意事项：以上均为小写，大写不会被正确识别
+
+**2. 配置数据打印**
+```yaml
+debug:
+  joint_pub_debug: false
+  joint_motor_debug_r: true
+  joint_motor_debug_l: false
+```
+- joint_pub_debug:设置为true可打印Topic Pub后的内容，刷新率较慢，可左右手同时显示
+- joint_motor_debug_r:设置为true可快速刷新右手的输出数据，范围在255-0，代表张开到聚拢的变化幅度
+- joint_motor_debug_l:设置为true可快速刷新左手的输出数据，范围在255-0，代表张开到聚拢的变化幅度
+
+**3. 配置数据源**
+```yaml
+motion_type: linkerforce
+```
+- motion_type:使用LinkerFFG手套要设置为linkerforce，motion_device无需设置
+
+### 2.1.4 程序启动(ROS2版)
+之后执行以下代码确认本设备的USB清单，然后分别插入2个力反馈手套，再次执行命令，确认刷新出来的USB设备序号，以/dev/ttyUSB0和/dev/ttyUSB1为例
+```bash
+ls /dev/ttyUSB*
+sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB1
+```
+
+然后执行
+```bash
+# 启动分为两种，
+# 一种带标定。第一次没标定过必须执行
+ros2 run linkerhand_retarget handretarget --ros-args -p calibration := True
+# 一种正常启动，默认不执行标定
+ros2 run linkerhand_retarget handretarget 
+```
+
+**注意事项：**
+为了客户启动方便，提供了一个启动脚本，在src同级目录下，文件名为startup_linkerforce.sh
+
+```bash
+#!/bin/bash
+# LinkerForce 手套遥操作启动脚本
+
+# 设置串口权限
+sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB1
+
+# source ROS 工作空间(请输入正确的目录)
+source ~/project/linkerhand_telop_ws/ros2/v2.8.7/install/setup.bash
+
+# 启动程序（强制标定）
+ros2 run linkerhand_retarget handretarget --ros-args -p calibration:=True
+
+# 无标定启动
+# ros2 run linkerhand_retarget handretarget 
+```
+
+编辑完成后即可这样启动
+```bash
+./startup_linkerforce.sh
+# 如果遇到Tab无法识别的情况，请赋予权限
+sudo chmod a+x ./startup_linkerforce.sh
+```
+
+### 2.1.5 程序启动(ROS1版)
+之后执行以下代码确认本设备的USB清单，然后分别插入2个力反馈手套，再次执行命令，确认刷新出来的USB设备序号，以/dev/ttyUSB0和/dev/ttyUSB1为例
+```bash
+ls /dev/ttyUSB*
+sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB1
+```
+
+然后执行
+```bash
+# 启动分为两种，
+# 一种带标定。第一次没标定过必须执行
+rosrun ros_linkerhand_retarget handretarget.py _calibrate:=true
+# 一种正常启动，默认不执行标定
+rosrun ros_linkerhand_retarget handretarget.py
+```
+
+**注意事项：**
+为了客户启动方便，提供了一个启动脚本，在src同级目录下，文件名为startup_linkerforce.sh
+
+```bash
+#!/bin/bash
+# LinkerForce 手套遥操作启动脚本
+
+# 设置串口权限
+sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB1
+
+# source ROS 工作空间(请输入正确的目录)
+source ~/linkerhand_telop/ros1/v2.8.6/install/setup.bash
+
+# 启动程序（强制标定）
+rosrun ros_linkerhand_retarget handretarget.py _calibrate:=true
+
+# 无标定启动
+# rosrun ros_linkerhand_retarget handretarget.py
+```
+
+编辑完成后即可这样启动
+```bash
+./startup_linkerforce.sh
+# 如果遇到Tab无法识别的情况，请赋予权限
+sudo chmod a+x ./startup_linkerforce.sh
+```
+
+## 2.2 Topic话题说明
+SDK的工作原理是将上位机传输过来的数据经过清洗和整理后，统一通过Topic的方式进行数据分发，因此Topic是数据中转站，也是判断遥操工作是否正常的重要依据
+
+- ROS1命令：`rostopic list`
+- ROS2命令：`ros2 topic list`
+
+**1. ROS2命令：**
+```bash
+ros2 topic echo /cb_left_hand_control_cmd
+# 或
+ros2 topic echo /cb_right_hand_control_cmd
+```
+
+### 数据说明
+
+#### L25机械手（21个自由度）
+| 关节 | 手指 | 动作 | 默认值 |
+|------|------|------|--------|
+| joint1 | 拇指 | 根部弯曲 | 255 |
+| joint2 | 食指 | 根部弯曲 | 255 |
+| joint3 | 中指 | 根部弯曲 | 255 |
+| joint4 | 无名指 | 根部弯曲 | 255 |
+| joint5 | 小指 | 根部弯曲 | 255 |
+| joint6 | 拇指 | 侧摆 | 255 |
+| joint7 | 食指 | 侧摆 | 128 |
+| joint8 | 中指 | 侧摆 | 128 |
+| joint9 | 无名指 | 侧摆 | 128 |
+| joint10 | 小指 | 侧摆 | 128 |
+| joint11 | 拇指 | 旋转 | 255 |
+| joint12 | 预留 | - | - |
+| joint13 | 预留 | - | - |
+| joint14 | 预留 | - | - |
+| joint15 | 预留 | - | - |
+| joint16 | 拇指 | 第二关节弯曲 | 255 |
+| joint17 | 食指 | 第二关节弯曲 | 255 |
+| joint18 | 中指 | 第二关节弯曲 | 255 |
+| joint19 | 无名指 | 第二关节弯曲 | 255 |
+| joint20 | 小指 | 第二关节弯曲 | 255 |
+| joint21 | 拇指 | 末端弯曲 | 255 |
+| joint22 | 食指 | 末端弯曲 | 255 |
+| joint23 | 中指 | 末端弯曲 | 255 |
+| joint24 | 无名指 | 末端弯曲 | 255 |
+| joint25 | 小指 | 末端弯曲 | 255 |
+
+#### L20机械手（16个自由度）
+| 关节 | 手指 | 动作 | 默认值 |
+|------|------|------|--------|
+| joint1 | 拇指 | 根部弯曲 | 255 |
+| joint2 | 食指 | 根部弯曲 | 255 |
+| joint3 | 中指 | 根部弯曲 | 255 |
+| joint4 | 无名指 | 根部弯曲 | 255 |
+| joint5 | 小指 | 根部弯曲 | 255 |
+| joint6 | 拇指 | 侧摆 | 255 |
+| joint7 | 食指 | 侧摆 | 128 |
+| joint8 | 中指 | 侧摆 | 128 |
+| joint9 | 无名指 | 侧摆 | 128 |
+| joint10 | 小指 | 侧摆 | 128 |
+| joint11 | 拇指 | 旋转 | 255 |
+| joint12 | 预留 | - | - |
+| joint13 | 预留 | - | - |
+| joint14 | 预留 | - | - |
+| joint15 | 预留 | - | - |
+| joint16 | 拇指 | 末端弯曲 | 255 |
+| joint17 | 食指 | 末端弯曲 | 255 |
+| joint18 | 中指 | 末端弯曲 | 255 |
+| joint19 | 无名指 | 末端弯曲 | 255 |
+| joint20 | 小指 | 末端弯曲 | 255 |
+
+#### L10机械手（10个自由度）
+| 关节 | 手指 | 动作 | 默认值 |
+|------|------|------|--------|
+| joint1 | 拇指 | 根部弯曲 | 255 |
+| joint2 | 拇指 | 侧摆 | 128 |
+| joint3 | 食指 | 根部弯曲 | 255 |
+| joint4 | 中指 | 根部弯曲 | 255 |
+| joint5 | 无名指 | 根部弯曲 | 255 |
+| joint6 | 小指 | 根部弯曲 | 255 |
+| joint7 | 食指 | 侧摆 | 128 |
+| joint8 | 无名指 | 侧摆 | 128 |
+| joint9 | 小指 | 侧摆 | 128 |
+| joint10 | 拇指 | 旋转 | 255 |
+
+#### O7机械手（7个自由度）
+| 关节 | 手指 | 动作 | 默认值 |
+|------|------|------|--------|
+| joint1 | 拇指 | 根部弯曲 | 255 |
+| joint2 | 拇指 | 侧摆 | 128 |
+| joint3 | 食指 | 根部弯曲 | 255 |
+| joint4 | 中指 | 根部弯曲 | 255 |
+| joint5 | 无名指 | 根部弯曲 | 255 |
+| joint6 | 小指 | 根部弯曲 | 255 |
+| joint7 | 拇指 | 旋转 | 255 |
+
+#### O6/L6机械手（7个自由度）
+| 关节 | 手指 | 动作 | 默认值 |
+|------|------|------|--------|
+| joint1 | 拇指 | 根部弯曲 | 255 |
+| joint2 | 拇指 | 侧摆 | 128 |
+| joint3 | 食指 | 根部弯曲 | 255 |
+| joint4 | 中指 | 根部弯曲 | 255 |
+| joint5 | 无名指 | 根部弯曲 | 255 |
+| joint6 | 小指 | 根部弯曲 | 255 |
+
+## 2.3 故障自检排查
+
+### 2.3.1 网络故障
+遥操和控制设备都是通过网络连接的，网络异常会导致彼此设备工作不正常，首先要检查网线的连接是否正确，保证双方的ip相互ping通以及防火墙要确保对应的端口是开放的
+
+### 2.3.2 话题异常
+在网络正常的前提下，可以在其他网络的设备上通过命令确认话题是否存在
+具体细节参考 2.2 Topic话题说明
+
+## 2.4 映射参数的设置
+
+### 2.4.1 原理
+映射系统有3种模式
+
+| 映射模式 | 对应英文 | 对应中文 | 适用场景 |
+|----------|----------|----------|----------|
+| 三态映射 | origin-opose-fist | 张手-O手势-握拳 | 希望能兼顾机械手最大行程，同时能满足对指的，可以满足绝大部分映射要求 |
+| 双端映射 | origin-fist | 张手-握拳 | 最大限度覆盖机械手的全部行程 |
+| 对指映射 | origin-opose- | 张手-O手势 | 以对指为主要目标，以抓取为目标，提高抓取的颗粒度 |
+
+### 2.4.2 配置文件
+该映射系统配置对机械手进行参数绑定，映射配置目录在
+```
+~/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config
+```
+
+目前提供的映射参数包如下
+```
+g20_config.py
+l10_config.py
+l20_config.py
+l6_config.py
+o6_config.py
+o7_config.py
+```
+
+### 2.4.3 配置介绍
+以下以l6_config.py为例
+
+#### 2.4.3.1 手指配置常量FINGER_CONFIGS
+
+##### 2.4.3.1.1 公共常量表
+（内容省略）
+
+##### 2.4.3.1.2 reverse_motion属性
+反转信号：默认为False
+
+##### 2.4.3.1.3 dynamic_weight属性
+动态权重：用于区间细节表达，默认为None，本版本不启用
+
+##### 2.4.3.1.4 extended_mapping属性
+扩展映射配置
+```python
+'extended_mapping': {    # 新增扩展映射配置
+    'enabled': True,
+    'scale_factor': 1.2,  # 缩放因子，默认1.0
+    'extended_exp_factor': 80  # 新增：延伸指数参数
+}
+```
+- enabled：仅在对指映射启用，False为不启用
+- scale_factor：缩放因子，用于快速锁定在opose的姿态位
+- extended_exp_factor：延伸参数，用于opose之后的延续动作，越小表示很难达到机械手的机械位置，利于更多的表达抓取细节，数值越大越容易快速达到驱动关节极限位置
+
+#### 2.4.3.2 映射顺序MAPPING_ORDER
+以L6为例，表示处理的关节顺序优先级
+```python
+MAPPING_ORDER = [
+    'thumb_abduction', 'thumb_flexion', 
+    'index', 'middle', 'ring', 'pinky'
+]
+```
+
+#### 2.4.3.3 状态配置STATE_CONFIG（未启用）
+
+#### 2.4.3.4 机械手OPOSE校准位：ROBOT_OPOSE_LEFT
+以下以L6的配置为例，以下角度对应左手机械手的OPOSE位置，注意以下顺序对应URDF的序列
+```python
+ROBOT_OPOSE_LEFT = [
+    1.4, 0.54, 0.0, 0.38, 0.0, 0.38, 0.0, 0.38, 0.0, 0.38, 0.0
+]
+```
+
+#### 2.4.3.5 机械手OPOSE校准位：ROBOT_OPOSE_RIGHT
+以下以L6的配置为例，以下角度对应右手机械手的OPOSE位置，注意以下顺序对应URDF的序列
+```python
+ROBOT_OPOSE_RIGHT = [
+    1.4, 0.54, 0.0, 0.38, 0.0, 0.38, 0.0, 0.38, 0.0, 0.38, 0.0
+]
+```
+
+### 2.4.4 机械手校准
+在2.4.3.4和2.4.3.5章节已经分别介绍了左右机械手OPOSE校准位，用于处理当前机械手位置和URDF之间的差异，第一次使用的时候，需要在以下代码进行改写
+
+路径：`./src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand`
+
+以L6机械手为例，在打开linkerforce_l6.py之后，在约计149行
+```python
+if self.calibrationoriginal is not None 
+and self.calibrationfistpose is not None 
+and self.calibrationopose is not None:
+    # for i in range(20):
+    #     self.multi_state_mapper.debug_value[i] = joint_arc[i]
+    # arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)   # 注释掉
+    arc_value = ROBOT_OPOSE_RIGHT          # 启用校准
+    qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+    qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+    qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+    qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+    qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+    qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]
+```
+
+改写成如上图的示例，即可启用右机械手的校准，启动后就会让机械手按照映射的角度固定在当前角度
+
+左手对应的在360行
+```python
+if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+    # for i in range(20):
+    #     self.multi_state_mapper.debug_value[i] = joint_arc[i]
+    # arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc) # 注释掉
+    # 启用校准
+    arc_value = ROBOT_OPOSE_LEFT
+    qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+    qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+    qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+    qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+    qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+    qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]
+```
+
+改写成如上图的示例，即可启用右机械手的校准，启动后就会让机械手按照映射的角度固定在当前角度
+
+当左右两手都达到期望的对指位置后，就可以恢复原状，按正常顺序使用遥操系统
\ No newline at end of file
diff --git a/readme.txt b/readme.txt
new file mode 100644
index 0000000..72f6f40
--- /dev/null
+++ b/readme.txt
@@ -0,0 +1,9 @@
+colcon build --symlink-install
+source install/setup.bash
+
+启动分为两种，
+一种带标定
+ros2 run linkerhand_retarget handretarget --ros-args -p calibration := True
+一种正常启动，默认不执行标定
+ros2 run linkerhand_retarget handretarget 
+还是这些流程
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/ReadMe.md b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/ReadMe.md
new file mode 100644
index 0000000..80dff26
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/ReadMe.md
@@ -0,0 +1,19 @@
+## v1.0.0.1 update，更新日期2025-03-31
+1. 调整linker_hand_l10_left拇指旋转角不当的问题，子版本号变更为1.0.0.1
+2. 调整linker_hand_l10_left无名指偏航角的大小，子版本号变更为1.0.0.2
+3. 调整linker_hand_l10_left小指偏航角的大小，子版本号变更为1.0.0.3
+4. linker_hand_l10_right的拇指旋转角处于异常状态，需结构重新设定，版本封存
+5. 调整linker_hand_l20_right拇指旋转角不当的问题，子版本号变更为1.0.0.1
+6. 调整linker_hand_l20_right拇指偏航角不当的问题，子版本号变更为1.0.0.2
+7. 调整linker_hand_t25_left四指横滚角不当的问题，子版本号变更为1.0.0.1
+
+## v1.0.0.0 create
+1. 版本创建
+2. 添加linker_hand_l10_left，版本号v1.6.7995.38578
+3. 添加linker_hand_l10_right，版本号v1.0.0
+4. 添加linker_hand_l20_left，版本号v1.0.0
+5. 添加linker_hand_l20_right，版本号v1.0.0
+6. 添加linker_hand_t25_left，版本号v1.0.0
+7. 添加linker_hand_t25_right，版本号v1.0.0
+8. 添加linker_hand_o7_left，版本号v1.0.0
+9. 添加linker_hand_o7_right，版本号v1.0.0
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/linkerhand_g20_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/linkerhand_g20_left.urdf
new file mode 100644
index 0000000..9c0c1f1
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/linkerhand_g20_left.urdf
@@ -0,0 +1,1285 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_g20_left.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000986417037198788 0.000268049028294054 0.0773798470852122"
+        rpy="0 0 0" />
+      <mass
+        value="0.110373495507463" />
+      <inertia
+        ixx="0.000264402778830212"
+        ixy="4.59263483005334E-07"
+        ixz="1.32798258678817E-06"
+        iyy="0.000159680177760236"
+        iyz="-4.78660406501498E-06"
+        izz="0.000118075546031988" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0115155126192006 0.00398068846976699 0.000272888250745694"
+        rpy="0 0 0" />
+      <mass
+        value="0.0160351802817401" />
+      <inertia
+        ixx="4.043875385429E-06"
+        ixy="1.31113365770736E-07"
+        ixz="-7.54220071752833E-09"
+        iyy="2.42762975209742E-06"
+        iyz="-1.4815076502312E-07"
+        izz="2.08582778122043E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="0.01916 -0.01 0.0436"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00286714610220221 -0.0061572653424441 0.00472605265322379"
+        rpy="0 0 0" />
+      <mass
+        value="0.00183264554882498" />
+      <inertia
+        ixx="2.10633266517815E-07"
+        ixy="-4.9133152227129E-08"
+        ixz="-1.35746007921721E-08"
+        iyy="9.83742137915545E-08"
+        iyz="4.75450167610941E-08"
+        izz="1.80097560989649E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.019845 0 0"
+      rpy="0.77165 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00670657874489922 8.60758971228653E-05 0.0331412930049483"
+        rpy="0 0 0" />
+      <mass
+        value="0.0287160359417969" />
+      <inertia
+        ixx="1.13355944686632E-05"
+        ixy="-1.18725063259997E-08"
+        ixz="5.09011416528365E-08"
+        iyy="1.3528651001113E-05"
+        iyz="2.41236037965108E-08"
+        izz="3.37809997040935E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0088218 -0.024245 0.0005"
+      rpy="0 -1.0647 1.9199" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.84"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00268734410969529 0.000568244522388137 0.0118501723044777"
+        rpy="0 0 0" />
+      <mass
+        value="0.00549015507433734" />
+      <inertia
+        ixx="4.78372237673962E-07"
+        ixy="4.56375652569348E-11"
+        ixz="5.41461160604729E-08"
+        iyy="6.23208954846975E-07"
+        iyz="5.1129105291147E-09"
+        izz="2.34934736039565E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0127018248047608 0 0.0627256157349894"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.26"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710021799050622 -0.00267575921172081 0.0124762660846746"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382046638843239" />
+      <inertia
+        ixx="2.12120816159448E-07"
+        ixy="-2.9588372102787E-09"
+        ixz="-7.35950751454791E-08"
+        iyy="2.67878295781821E-07"
+        iyz="6.04616706384983E-09"
+        izz="1.24571609570411E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00483652209209624 0 0.0342226492098615"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.29"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_mcp"
+      multiplier="1.02"
+      offset="0" />
+  </joint>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794299653637993 -2.93673969475883E-07 0.00220106027330236"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895516429792169" />
+      <inertia
+        ixx="3.46279728013563E-08"
+        ixy="-3.91962517308058E-13"
+        ixz="5.91029152662012E-09"
+        iyy="2.85435471088518E-08"
+        iyz="-5.30377507775974E-13"
+        izz="4.38102133125935E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 -0.03525 0.1481"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114185484694667 3.47315751996757E-05 0.0228928405204552"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450921353606138" />
+      <inertia
+        ixx="6.66673080974796E-07"
+        ixy="-1.07185172336921E-11"
+        ixz="-2.53143396223457E-08"
+        iyy="6.74195867168963E-07"
+        iyz="-1.59054321114837E-10"
+        izz="1.3575909170439E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206991936024691 2.60617060293677E-06 0.0167065328961797"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237827499847615" />
+      <inertia
+        ixx="2.2953872847051E-07"
+        ixy="2.23609392315326E-12"
+        ixz="-1.4734008024399E-08"
+        iyy="1.76761332719485E-07"
+        iyz="1.15917246584962E-11"
+        izz="9.62798051827835E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.74"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816246517948334 2.27058913663258E-05 0.00811806505013066"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334170259772608" />
+      <inertia
+        ixx="1.59570744991572E-07"
+        ixy="1.51458653099843E-10"
+        ixz="-5.9429168549018E-08"
+        iyy="1.78095631426193E-07"
+        iyz="-1.24842727205631E-10"
+        izz="1.34141383450165E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794299618184406 -2.93006659768391E-07 0.00220106329585604"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895516947435045" />
+      <inertia
+        ixx="3.46279958583857E-08"
+        ixy="-3.91785866285381E-13"
+        ixz="5.91029262290692E-09"
+        iyy="2.85435605322585E-08"
+        iyz="-5.27457529869591E-13"
+        izz="4.38102218629515E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.00379999999265848 -0.0117500000029305 0.1526"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114185484818909 3.47315748623067E-05 0.0228928405191574"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450921353536659" />
+      <inertia
+        ixx="6.6667308094129E-07"
+        ixy="-1.07185191777588E-11"
+        ixz="-2.53143396278864E-08"
+        iyy="6.74195867139795E-07"
+        iyz="-1.59054330697635E-10"
+        izz="1.3575909169764E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="middle_metacarpals" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206991893084203 2.60624978909441E-06 0.0167065331356697"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237827502274046" />
+      <inertia
+        ixx="2.29538732170979E-07"
+        ixy="2.23722006830829E-12"
+        ixz="-1.47340061868536E-08"
+        iyy="1.7676133625496E-07"
+        iyz="1.15938574397121E-11"
+        izz="9.62798057458164E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00419457745591796 0 0.0448194332262389"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.74"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816246584707385 2.27058557035753E-05 0.00811806604834034"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334170288968694" />
+      <inertia
+        ixx="1.59570753478215E-07"
+        ixy="1.51460233550071E-10"
+        ixz="-5.94291827952622E-08"
+        iyy="1.78095663702073E-07"
+        iyz="-1.24843061161549E-10"
+        izz="1.34141410190336E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794299637971868 -2.94513098575422E-07 0.00220106138372037"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895516612684195" />
+      <inertia
+        ixx="3.46279813761428E-08"
+        ixy="-3.92590701616938E-13"
+        ixz="5.91029201975386E-09"
+        iyy="2.854355219638E-08"
+        iyz="-5.34642787239736E-13"
+        izz="4.38102164225122E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.00379999999632174 0.0117499999970695 0.1481"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114185484356009 3.47315809493265E-05 0.0228928405060199"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450921353946778" />
+      <inertia
+        ixx="6.66673081759646E-07"
+        ixy="-1.07184694208142E-11"
+        ixz="-2.53143399406658E-08"
+        iyy="6.74195868060947E-07"
+        iyz="-1.59054446512071E-10"
+        izz="1.3575909184966E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00020699321531438 2.60746916563859E-06 0.0167065326651803"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237827433282015" />
+      <inertia
+        ixx="2.29538714144179E-07"
+        ixy="2.25259718797087E-12"
+        ixz="-1.47340121880382E-08"
+        iyy="1.76761312824203E-07"
+        iyz="1.15994674932479E-11"
+        izz="9.62797743780677E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00419457745591796 0 0.0448194332262389"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.74"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.0081624655153107 2.27057324615476E-05 0.00811806561376854"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334170280386792" />
+      <inertia
+        ixx="1.59570757957895E-07"
+        ixy="1.51461030930522E-10"
+        ixz="-5.94291750853635E-08"
+        iyy="1.78095650648522E-07"
+        iyz="-1.2484716714453E-10"
+        izz="1.34141394018405E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794299617469867 -2.9300686296696E-07 0.00220106329602079"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895516947513541" />
+      <inertia
+        ixx="3.46279958591138E-08"
+        ixy="-3.91785473098584E-13"
+        ixz="5.91029262259818E-09"
+        iyy="2.85435605328821E-08"
+        iyz="-5.27457876763101E-13"
+        izz="4.38102218637476E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.00379999999998499 0.0352499999970695 0.1436"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114185484350746 3.47315809787474E-05 0.0228928405060759"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450921353949741" />
+      <inertia
+        ixx="6.66673081761478E-07"
+        ixy="-1.07184692555283E-11"
+        ixz="-2.53143399404374E-08"
+        iyy="6.74195868062215E-07"
+        iyz="-1.59054445649156E-10"
+        izz="1.35759091850319E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206993248553502 2.60748984004522E-06 0.0167065326828462"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237827431921004" />
+      <inertia
+        ixx="2.29538713829186E-07"
+        ixy="2.25292379523651E-12"
+        ixz="-1.47340119230773E-08"
+        iyy="1.76761312133621E-07"
+        iyz="1.15993142153177E-11"
+        izz="9.62797736254209E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.74"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816246615274486 2.27054189396725E-05 0.00811806634481432"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334170283969146" />
+      <inertia
+        ixx="1.59570758932551E-07"
+        ixy="1.51458416419677E-10"
+        ixz="-5.94291815262966E-08"
+        iyy="1.7809566305509E-07"
+        iyz="-1.24846982879422E-10"
+        izz="1.34141398854287E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/linkerhand_l25_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/linkerhand_l25_left.urdf
new file mode 120000
index 0000000..b2a4b3b
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/linkerhand_l25_left.urdf
@@ -0,0 +1 @@
+linkerhand_g20_left.urdf
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..706606c
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/index_distal.STL
new file mode 100644
index 0000000..281a53c
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/index_metacarpals.STL
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index 0000000..608b860
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/index_middle.STL
new file mode 100644
index 0000000..9f00fc4
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/index_proximal.STL
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index 0000000..4a4473d
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/middle_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/middle_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/middle_metacarpals.STL
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index 0000000..96674b1
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/middle_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/middle_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/pinky_distal.STL
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index 0000000..8e2e782
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/pinky_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/ring_distal.STL
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index 0000000..f502969
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index 0000000..5a06a97
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_distal.STL
new file mode 100644
index 0000000..dc10991
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_metacarpals.STL
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index 0000000..156e9b3
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_metacarpals_base2.STL
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index 0000000..cf5fced
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/meshes/thumb_proximal.STL
new file mode 100644
index 0000000..b657d19
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/linkerhand_g20_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/linkerhand_g20_right.urdf
new file mode 100644
index 0000000..3d1b6cd
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/linkerhand_g20_right.urdf
@@ -0,0 +1,1285 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_L25NS_right.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0023553326597099 -0.000476950676809626 0.0840274681191193"
+        rpy="0 0 0" />
+      <mass
+        value="0.130043890829375" />
+      <inertia
+        ixx="0.000269869493590648"
+        ixy="-5.66836728555976E-07"
+        ixz="1.0791938448155E-06"
+        iyy="0.000164906210534713"
+        iyz="4.94586055862009E-06"
+        izz="0.000118834524369526" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0121300685642492 -0.00368626401900367 0.000253013805235423"
+        rpy="0 0 0" />
+      <mass
+        value="0.0173128324517923" />
+      <inertia
+        ixx="4.04974890264239E-06"
+        ixy="-1.31074266242452E-07"
+        ixz="-7.53905165403527E-09"
+        iyy="2.43513754798381E-06"
+        iyz="1.46366596393199E-07"
+        izz="2.09347392894973E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.749019607843137 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="0.01916 0.01 0.0436"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="1.39"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00274804892423072 0.00768600825377847 0.00362008971119372"
+        rpy="0 0 0" />
+      <mass
+        value="0.0129293097380942" />
+      <inertia
+        ixx="1.69966138188785E-06"
+        ixy="3.5029507180292E-07"
+        ixz="-1.32342776895603E-07"
+        iyy="7.14783352238004E-07"
+        iyz="-3.69293599975358E-07"
+        izz="1.38951684398117E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.749019607843137 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.019845 0 0"
+      rpy="-0.77165 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00680467489235993 -0.000348945978923473 0.0329029974283304"
+        rpy="0 0 0" />
+      <mass
+        value="0.0311449727019751" />
+      <inertia
+        ixx="1.14965619264847E-05"
+        ixy="-1.14093661337383E-08"
+        ixz="5.08562599330683E-08"
+        iyy="1.37913772817647E-05"
+        iyz="2.39355105126118E-08"
+        izz="3.56917509196916E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0088264 0.024243 0.0005"
+      rpy="0 -1.0647 -1.9199" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.83"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00268743345276515 0.000568290980153867 0.0118503606835096"
+        rpy="0 0 0" />
+      <mass
+        value="0.00549015851204037" />
+      <inertia
+        ixx="4.78349857032437E-07"
+        ixy="4.61712014179472E-11"
+        ixz="5.4113877466635E-08"
+        iyy="6.23171205283375E-07"
+        iyz="5.11556682719536E-09"
+        izz="2.34919130274949E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.012702 0 0.062726"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.25"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.000650482106033023 2.41300573138245E-05 0.0111942838051236"
+        rpy="0 0 0" />
+      <mass
+        value="0.00585464206993151" />
+      <inertia
+        ixx="3.37157269656711E-07"
+        ixy="3.69307135027908E-10"
+        ixz="-1.12308316041907E-07"
+        iyy="4.37703462647265E-07"
+        iyz="-9.3624675389561E-10"
+        izz="1.85639673847353E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.996078431372549 1 0.317647058823529 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.0048365 0 0.034223"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.29"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="thumb_mcp"
+      multiplier="1.03"
+      offset="0" />
+  </joint>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794297216778595 3.01910607593964E-07 0.00220112291424343"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895533942236676" />
+      <inertia
+        ixx="3.46286808249453E-08"
+        ixy="5.20721113539202E-13"
+        ixz="5.91055676999344E-09"
+        iyy="2.85439868980493E-08"
+        iyz="6.15915602928681E-13"
+        izz="4.38105935701441E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 0.03525 0.1481"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114165889805229 -3.47779025311364E-05 0.0228930740987338"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450935628154297" />
+      <inertia
+        ixx="6.66693338335738E-07"
+        ixy="1.00781853152623E-11"
+        ixz="-2.53156876802064E-08"
+        iyy="6.74214594716538E-07"
+        iyz="1.59197443844205E-10"
+        izz="1.3576088799113E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206830314670474 -2.69762827288106E-06 0.0167055565294545"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237861824163327" />
+      <inertia
+        ixx="2.29584431475404E-07"
+        ixy="-3.79527882007371E-12"
+        ixz="-1.47269516053005E-08"
+        iyy="1.76802239049368E-07"
+        iyz="3.59871792473524E-13"
+        izz="9.62875380319572E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.75"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816260402461631 -2.26721604493323E-05 0.00811819722869647"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334176238570705" />
+      <inertia
+        ixx="1.59568900399119E-07"
+        ixy="-1.52271643281661E-10"
+        ixz="-5.94266141046017E-08"
+        iyy="1.78096631602274E-07"
+        iyz="1.23981970768957E-10"
+        izz="1.34139906914153E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="index_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794297217144934 3.01910607571412E-07 0.00220112291424346"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895533942236672" />
+      <inertia
+        ixx="3.46286808249452E-08"
+        ixy="5.20721113361698E-13"
+        ixz="5.91055676999347E-09"
+        iyy="2.85439868980493E-08"
+        iyz="6.15915602825396E-13"
+        izz="4.3810593570144E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 0.01175 0.1526"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114165889805231 -3.47779025311071E-05 0.0228930740987338"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450935628154299" />
+      <inertia
+        ixx="6.66693338335741E-07"
+        ixy="1.00781853158879E-11"
+        ixz="-2.53156876802067E-08"
+        iyy="6.74214594716535E-07"
+        iyz="1.59197443844791E-10"
+        izz="1.35760887991121E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="middle_metacarpals" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206830311076763 -2.69763200638285E-06 0.0167055565392871"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237861824399121" />
+      <inertia
+        ixx="2.2958443176697E-07"
+        ixy="-3.79531728857531E-12"
+        ixz="-1.47269515025648E-08"
+        iyy="1.76802239346606E-07"
+        iyz="3.59776198217398E-13"
+        izz="9.62875381090068E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.75"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816260402458386 -2.26721612610642E-05 0.00811819722943347"
+        rpy="0 0 0" />
+      <mass
+        value="0.0033417623857295" />
+      <inertia
+        ixx="1.59568900407287E-07"
+        ixy="-1.52271672185911E-10"
+        ixz="-5.94266141070478E-08"
+        iyy="1.78096631550001E-07"
+        iyz="1.23981962913402E-10"
+        izz="1.34139906932954E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="middle_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794297217511273 3.01910607531514E-07 0.00220112291424343"
+        rpy="0 0 0" />
+      <mass
+        value="0.00089553394223667" />
+      <inertia
+        ixx="3.4628680824945E-08"
+        ixy="5.2072111337213E-13"
+        ixz="5.91055676999336E-09"
+        iyy="2.8543986898049E-08"
+        iyz="6.15915602738524E-13"
+        izz="4.38105935701438E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 -0.01175 0.1481"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114165889805229 -3.47779025311641E-05 0.0228930740987337"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450935628154299" />
+      <inertia
+        ixx="6.66693338335738E-07"
+        ixy="1.00781853170701E-11"
+        ixz="-2.53156876802064E-08"
+        iyy="6.74214594716548E-07"
+        iyz="1.59197443843837E-10"
+        izz="1.3576088799114E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206830314670712 -2.69762827293657E-06 0.0167055565294543"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237861824163314" />
+      <inertia
+        ixx="2.29584431475388E-07"
+        ixy="-3.79527881056473E-12"
+        ixz="-1.47269516053097E-08"
+        iyy="1.76802239049448E-07"
+        iyz="3.59871797815951E-13"
+        izz="9.62875380320043E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.75"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816260402385198 -2.26723442381116E-05 0.00811819722787116"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334176238553782" />
+      <inertia
+        ixx="1.59568900413529E-07"
+        ixy="-1.5226555011147E-10"
+        ixz="-5.9426614092103E-08"
+        iyy="1.78096631554275E-07"
+        iyz="1.23978578539056E-10"
+        izz="1.34139906897543E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="ring_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794297217877612 3.019106075558E-07 0.00220112291424343"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895533942236661" />
+      <inertia
+        ixx="3.46286808249448E-08"
+        ixy="5.20721113385638E-13"
+        ixz="5.91055676999334E-09"
+        iyy="2.85439868980489E-08"
+        iyz="6.15915602787648E-13"
+        izz="4.38105935701437E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 -0.03525 0.1436"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114165890216106 -3.47779084241967E-05 0.0228930741124087"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450935627773312" />
+      <inertia
+        ixx="6.6669333754323E-07"
+        ixy="1.00781372651744E-11"
+        ixz="-2.53156873668278E-08"
+        iyy="6.74214593816853E-07"
+        iyz="1.59197565505674E-10"
+        izz="1.35760887844139E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206830314670489 -2.69762827287412E-06 0.0167055565294545"
+        rpy="0 0 0" />
+      <mass
+        value="0.0023786182416333" />
+      <inertia
+        ixx="2.29584431475459E-07"
+        ixy="-3.79527884680841E-12"
+        ixz="-1.47269516053079E-08"
+        iyy="1.76802239049466E-07"
+        iyz="3.5987180643017E-13"
+        izz="9.62875380320415E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.75"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816260391299546 -2.26722056161019E-05 0.00811819704290559"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334176233214274" />
+      <inertia
+        ixx="1.59568898336975E-07"
+        ixy="-1.52270106341856E-10"
+        ixz="-5.94266114992739E-08"
+        iyy="1.78096625944569E-07"
+        iyz="1.23981107883524E-10"
+        izz="1.3413990252827E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="pinky_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/linkerhand_l25_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/linkerhand_l25_right.urdf
new file mode 120000
index 0000000..6a0e843
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/linkerhand_l25_right.urdf
@@ -0,0 +1 @@
+linkerhand_g20_right.urdf
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..f277145
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/index_distal.STL
new file mode 100644
index 0000000..b812c38
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/index_metacarpals.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/index_middle.STL
new file mode 100644
index 0000000..5ea8f9c
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/index_proximal.STL
new file mode 100644
index 0000000..923012e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/middle_distal.STL
new file mode 100644
index 0000000..cd1ee86
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/middle_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/middle_metacarpals.STL
new file mode 100644
index 0000000..62a6b35
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/middle_middle.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/middle_proximal.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/pinky_distal.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/pinky_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/pinky_metacarpals.STL
new file mode 100644
index 0000000..64b9b7b
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/pinky_middle.STL
new file mode 100644
index 0000000..d1a62f6
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..d26bc4b
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/ring_distal.STL
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index 0000000..9b53ea5
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/ring_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/ring_metacarpals.STL
new file mode 100644
index 0000000..095a682
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/ring_middle.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/ring_proximal.STL
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index 0000000..7b2a085
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/meshes/thumb_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/linkerhand_l10_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/linkerhand_l10_left.urdf
new file mode 100644
index 0000000..fbc114f
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/linkerhand_l10_left.urdf
@@ -0,0 +1,1247 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_l10_7_left.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00378861347427444 0.000820204450212636 0.0805686615687793"
+        rpy="0 0 0" />
+      <mass
+        value="0.103652479414282" />
+      <inertia
+        ixx="0.000193076183439416"
+        ixy="-1.28622350247984E-06"
+        ixz="2.06064564158949E-07"
+        iyy="0.00012926288517179"
+        iyz="2.33887125852557E-06"
+        izz="7.7154522927083E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0284774512174003 0.00319294525979458 0.000288805100279406"
+        rpy="0 0 0" />
+      <mass
+        value="0.00845816139945221" />
+      <inertia
+        ixx="1.40261486759336E-06"
+        ixy="-1.18203915023492E-07"
+        ixz="-1.77734618116876E-08"
+        iyy="9.82563502315962E-07"
+        iyz="6.88489366314261E-08"
+        izz="7.36187487063603E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.013419 -0.012551 0.060602"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="-0.99996 0 -0.0087265" />
+    <limit
+      lower="0"
+      upper="1.1339"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00183846579918134 -0.00587846426611621 -0.0015162158210808"
+        rpy="0 0 0" />
+      <mass
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+        ixy="4.89370850547165E-09"
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+        iyy="9.94309628765418E-08"
+        iyz="3.10591576019106E-09"
+        izz="6.87375869983625E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.035797 0.00065879 0.00045944"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="-0.008517 -0.21782 0.97595" />
+    <limit
+      lower="0"
+      upper="1.9189"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00183662026125164 3.48962479811143E-06 0.0269904486748884"
+        rpy="0 0 0" />
+      <mass
+        value="0.01520120856034" />
+      <inertia
+        ixx="2.9536990439562E-06"
+        ixy="-4.54477085913726E-11"
+        ixz="1.58082889158651E-07"
+        iyy="3.8477051320862E-06"
+        iyz="-4.17561402252793E-10"
+        izz="1.32008356198982E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0046051 -0.014383 -0.0051478"
+      rpy="-0.16356 -1.1191 2.0038" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.5149"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.0015926125860982 4.26589066317498E-06 0.0151572207811941"
+        rpy="0 0 0" />
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+        ixz="4.42240858300533E-08"
+        iyy="9.10425093388008E-07"
+        iyz="-2.56550662127861E-11"
+        izz="4.47461802494835E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0061722 0 0.047968"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.7152"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.3898"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00138804783940386 -1.95109829512208E-06 0.0115761271998154"
+        rpy="0 0 0" />
+      <mass
+        value="0.00512789958515099" />
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+        ixx="3.30786354228455E-07"
+        ixy="3.37981828718406E-10"
+        ixz="1.04683577058069E-07"
+        iyy="3.23607405408934E-07"
+        iyz="1.24601619348998E-10"
+        izz="2.48874162996129E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00017064 0 0.038665"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.7763"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.508"
+      offset="0" />
+  </joint>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00152426817464821 6.05770268113925E-07 0.0106911596123391"
+        rpy="0 0 0" />
+      <mass
+        value="0.00388771277323252" />
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+        ixx="1.87385239390143E-07"
+        ixy="-1.50747799029618E-11"
+        ixz="-1.3585152124314E-08"
+        iyy="2.75278189614443E-07"
+        iyz="-2.13460044424543E-11"
+        izz="2.06630683818818E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0021643 -0.026654 0.13253"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="0"
+      upper="0.2181"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00138261335013087 -2.0448073701218E-06 0.0182296115874793"
+        rpy="0 0 0" />
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+        iyy="3.51905921291625E-07"
+        iyz="1.08366129189436E-10"
+        izz="1.41611972744247E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.00259933527445673 2.18965318593556E-06 0.0110174750966451"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043922879456" />
+      <inertia
+        ixx="2.60328600820399E-07"
+        ixy="-5.78747075104944E-11"
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+        iyy="2.3307752147835E-07"
+        iyz="2.81942890795077E-11"
+        izz="1.27252338208461E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710517111010627 -4.75726794854636E-06 0.012145336450558"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452064297397" />
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+        ixx="1.63317340328391E-07"
+        ixy="-2.09419656935959E-11"
+        ixz="4.33496816458187E-08"
+        iyy="1.48361285562251E-07"
+        iyz="1.96803996917722E-10"
+        izz="9.85553531650042E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00139098027014184 -2.04476498844031E-06 0.0182289750275599"
+        rpy="0 0 0" />
+      <mass
+        value="0.00316246719662224" />
+      <inertia
+        ixx="3.56355985740973E-07"
+        ixy="-1.52464655137029E-11"
+        ixz="4.34003274159042E-08"
+        iyy="3.51905920397221E-07"
+        iyz="1.08359634878477E-10"
+        izz="1.41651767407151E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021316 -0.0076542 0.15281"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.0026170048250792 2.18964489276385E-06 0.0110132913946175"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043921858529" />
+      <inertia
+        ixx="2.6019615015243E-07"
+        ixy="-5.79194626881696E-11"
+        ixz="4.13918339836743E-08"
+        iyy="2.33077520740401E-07"
+        iyz="2.81014096462077E-11"
+        izz="1.27384787247362E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.001397 0 0.035623"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.000728403029144615 -4.7556974856755E-06 0.0121442774004862"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452092965163" />
+      <inertia
+        ixx="1.63189533228873E-07"
+        ixy="-2.12447856725291E-11"
+        ixz="4.34448768867267E-08"
+        iyy="1.48361296215225E-07"
+        iyz="1.96771697224987E-10"
+        izz="9.86831899309453E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0055098 0 0.025656"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00152426817464828 6.05770268197192E-07 0.010691159612339"
+        rpy="0 0 0" />
+      <mass
+        value="0.00388771277323251" />
+      <inertia
+        ixx="1.87385239390142E-07"
+        ixy="-1.50747799012373E-11"
+        ixz="-1.35851521243144E-08"
+        iyy="2.75278189614442E-07"
+        iyz="-2.13460044414369E-11"
+        izz="2.06630683818817E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0021643 0.011346 0.13253"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="-0.2181"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00138261330266684 -2.0447785264166E-06 0.0182296118982312"
+        rpy="0 0 0" />
+      <mass
+        value="0.0031624671652163" />
+      <inertia
+        ixx="3.56395781426818E-07"
+        ixy="-1.51970550291323E-11"
+        ixz="4.33017653956416E-08"
+        iyy="3.51905919284355E-07"
+        iyz="1.08366441004821E-10"
+        izz="1.4161197116697E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00259933547466245 2.18954477221311E-06 0.0110174751134697"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043915953111" />
+      <inertia
+        ixx="2.60328598871493E-07"
+        ixy="-5.78718096660343E-11"
+        ixz="4.11785818944011E-08"
+        iyy="2.33077515495018E-07"
+        iyz="2.81941916146631E-11"
+        izz="1.27252331273933E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710517105065085 -4.75636578367578E-06 0.0121453401469508"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452208497789" />
+      <inertia
+        ixx="1.63317386570295E-07"
+        ixy="-2.09324585080789E-11"
+        ixz="4.33497128582753E-08"
+        iyy="1.48361350800559E-07"
+        iyz="1.9679121866702E-10"
+        izz="9.85553885284675E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.0015242681746482 6.05770268197192E-07 0.010691159612339"
+        rpy="0 0 0" />
+      <mass
+        value="0.00388771277323252" />
+      <inertia
+        ixx="1.87385239390143E-07"
+        ixy="-1.50747799026559E-11"
+        ixz="-1.35851521243143E-08"
+        iyy="2.75278189614442E-07"
+        iyz="-2.13460044423049E-11"
+        izz="2.06630683818817E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.00012074 0.030346 0.12755"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="-0.3489"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.0013826133500916 -2.04480739013357E-06 0.0182296115873023"
+        rpy="0 0 0" />
+      <mass
+        value="0.00316246721927742" />
+      <inertia
+        ixx="3.56395782184299E-07"
+        ixy="-1.51975383069221E-11"
+        ixz="4.33017644806427E-08"
+        iyy="3.51905921292737E-07"
+        iyz="1.08366128612708E-10"
+        izz="1.41611972744827E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.0025993354746625 2.18954477224087E-06 0.0110174751134698"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043915953116" />
+      <inertia
+        ixx="2.60328598871551E-07"
+        ixy="-5.78718096771597E-11"
+        ixz="4.11785818944279E-08"
+        iyy="2.33077515495214E-07"
+        iyz="2.81941916132638E-11"
+        izz="1.27252331274066E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710517460743719 -4.75730252216811E-06 0.0121453361986339"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452044951957" />
+      <inertia
+        ixx="1.63317337383031E-07"
+        ixy="-2.09430019728007E-11"
+        ixz="4.33496839959002E-08"
+        iyy="1.48361292034124E-07"
+        iyz="1.96809590206387E-10"
+        izz="9.85553441949477E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..510452a
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_distal.STL
new file mode 100644
index 0000000..45d509e
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..b42a241
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_middle.STL
new file mode 100644
index 0000000..0f61c46
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/index_proximal.STL
new file mode 100644
index 0000000..b234ac5
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/middle_distal.STL
new file mode 100644
index 0000000..744c102
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/middle_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/middle_middle.STL
new file mode 100644
index 0000000..45f42c9
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/middle_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/middle_proximal.STL
new file mode 100644
index 0000000..9c9148a
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/middle_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/pinky_distal.STL
new file mode 100644
index 0000000..a093402
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/pinky_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/pinky_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/pinky_metacarpals.STL
new file mode 100644
index 0000000..a1747e5
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/pinky_middle.STL
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index 0000000..2f1fc95
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/pinky_proximal.STL
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index 0000000..9959832
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/ring_distal.STL
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index 0000000..85da730
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/ring_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/ring_metacarpals.STL
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index 0000000..65147dd
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/ring_middle.STL
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index 0000000..15d8948
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/ring_proximal.STL
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index 0000000..e999f11
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_distal.STL
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index 0000000..0092eb3
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_metacarpals.STL
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index 0000000..22a1345
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_metacarpals_base2.STL
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index 0000000..dbf06fb
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_left/meshes/thumb_proximal.STL
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index 0000000..a90bd00
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/linkerhand_l10_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/linkerhand_l10_right.urdf
new file mode 100644
index 0000000..85b7010
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/linkerhand_l10_right.urdf
@@ -0,0 +1,1247 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_l10_7_right.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00378572993474923 -0.000415839048931058 0.0836392883613671"
+        rpy="0 0 0" />
+      <mass
+        value="0.10884427610512" />
+      <inertia
+        ixx="0.00019345483956042"
+        ixy="1.28842682703635E-06"
+        ixz="1.97005632028112E-07"
+        iyy="0.000129793182936336"
+        iyz="-2.34961034039841E-06"
+        izz="7.75126657491835E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0.6 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0284774593036823 -0.00319295610820959 0.000288698025133524"
+        rpy="0 0 0" />
+      <mass
+        value="0.0084581719416891" />
+      <inertia
+        ixx="1.40261950876138E-06"
+        ixy="1.18207329998214E-07"
+        ixz="-1.77710409325651E-08"
+        iyy="9.82563824235415E-07"
+        iyz="-6.88503841796069E-08"
+        izz="7.36195207923163E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.013419 0.012551 0.060602"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="0.99996 0 -0.0087265" />
+    <limit
+      lower="0"
+      upper="1.1339"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00215248483593253 0.00687960824638228 -0.00178648738539141"
+        rpy="0 0 0" />
+      <mass
+        value="0.00582710536801184" />
+      <inertia
+        ixx="3.1580508435925E-07"
+        ixy="-1.2523312776122E-08"
+        ixz="7.34627751822501E-09"
+        iyy="2.74551538715439E-07"
+        iyz="-1.11420623852877E-08"
+        izz="1.7708647486189E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.035797 -0.00065879 0.00045944"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0.008517 -0.21782 -0.97595" />
+    <limit
+      lower="0"
+      upper="1.9189"
+      effort="100"
+      velocity="0" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00183661834550107 -2.80742940476572E-06 0.0269905020099197"
+        rpy="0 0 0" />
+      <mass
+        value="0.0152011697874328" />
+      <inertia
+        ixx="2.95370119498705E-06"
+        ixy="5.98576599418973E-11"
+        ixz="1.58078022444628E-07"
+        iyy="3.84770651487058E-06"
+        iyz="4.18316149481869E-10"
+        izz="1.32007495243356E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0046051 0.014383 -0.0051478"
+      rpy="0.16356 -1.1191 -2.0038" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.5146"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.00159270226880857 -4.4335770623613E-06 0.0151573535592338"
+        rpy="0 0 0" />
+      <mass
+        value="0.00662230120907192" />
+      <inertia
+        ixx="1.01526965693255E-06"
+        ixy="-3.40889077339227E-12"
+        ixz="4.4224333375416E-08"
+        iyy="9.10433196570128E-07"
+        iyz="2.59867251981586E-11"
+        izz="4.4746314468008E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.6 0.6 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0061722 0 0.047968"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.7152"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.3898"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00138919652929166 1.66654390589688E-06 0.0115790399688877"
+        rpy="0 0 0" />
+      <mass
+        value="0.00512933613321634" />
+      <inertia
+        ixx="3.30969722600772E-07"
+        ixy="-3.44780214263253E-10"
+        ixz="1.04733139974397E-07"
+        iyy="3.23809589950991E-07"
+        iyz="-8.21573772773073E-11"
+        izz="2.489052525811E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.4 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00017064 0 0.038665"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.7763"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.508"
+      offset="0" />
+  </joint>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.000473392019250098 -6.96702861594997E-07 0.00909067743061448"
+        rpy="0 0 0" />
+      <mass
+        value="0.00903700347459462" />
+      <inertia
+        ixx="4.90035722472611E-07"
+        ixy="3.89143802263231E-11"
+        ixz="-2.78580197566548E-08"
+        iyy="7.37380420538667E-07"
+        iyz="6.37050140815271E-11"
+        izz="5.52381285093451E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0021643 0.026654 0.13253"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="-0.2181"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000221409784741484 1.17214413283134E-06 0.0104801609243648"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982479821771" />
+      <inertia
+        ixx="4.43447817415824E-07"
+        ixy="-2.69774925527114E-12"
+        ixz="2.71645765576885E-08"
+        iyy="4.58697755319572E-07"
+        iyz="-8.52649515921746E-11"
+        izz="1.7465947341041E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.00259932519148708 -2.09526073980532E-06 0.0110174765184068"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635595588" />
+      <inertia
+        ixx="2.60328472325947E-07"
+        ixy="5.7907596345584E-11"
+        ixz="4.11787064047029E-08"
+        iyy="2.33077669786127E-07"
+        iyz="-2.91977981203693E-11"
+        izz="1.27252395425434E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710605319534495 5.23484329792434E-06 0.0121456668819466"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314458657125681" />
+      <inertia
+        ixx="1.63322109883219E-07"
+        ixy="1.96094345230889E-11"
+        ixz="4.33517104700554E-08"
+        iyy="1.48366110942312E-07"
+        iyz="-2.0277830463002E-10"
+        izz="9.85575309385827E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000226219980586555 1.17216483217115E-06 0.0104800581470382"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982478226948" />
+      <inertia
+        ixx="4.43422823045881E-07"
+        ixy="-2.65801609336249E-12"
+        ixz="2.72879331079687E-08"
+        iyy="4.58697754707372E-07"
+        iyz="-8.52654749041276E-11"
+        izz="1.746844667607E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021316 0.0076542 0.15281"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.00261699473119732 -2.09526685195343E-06 0.0110132928110042"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635504843" />
+      <inertia
+        ixx="2.60196021834948E-07"
+        ixy="5.79547865424082E-11"
+        ixz="4.1391958359388E-08"
+        iyy="2.33077669434872E-07"
+        iyz="-2.91048412607941E-11"
+        izz="1.27384845266404E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.001397 0 0.035623"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.000728492686368068 5.23463091207845E-06 0.0121446078355904"
+        rpy="0 0 0" />
+      <mass
+        value="0.0031445865911477" />
+      <inertia
+        ixx="1.6319430020531E-07"
+        ixy="1.99064061423831E-11"
+        ixz="4.34469141575623E-08"
+        iyy="1.48366133401933E-07"
+        iyz="-2.0274172110168E-10"
+        izz="9.86853634492536E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0055098 0 0.025656"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.000473392019250147 -6.96702861586324E-07 0.00909067743061451"
+        rpy="0 0 0" />
+      <mass
+        value="0.00903700347459463" />
+      <inertia
+        ixx="4.90035722472612E-07"
+        ixy="3.89143802227228E-11"
+        ixz="-2.78580197566549E-08"
+        iyy="7.37380420538669E-07"
+        iyz="6.37050140810733E-11"
+        izz="5.52381285093452E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0021643 -0.011346 0.13253"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="0"
+      upper="0.2181"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000221412177759527 1.17116513872681E-06 0.0104801549347171"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982867950541" />
+      <inertia
+        ixx="4.43447863010516E-07"
+        ixy="-2.73227024213763E-12"
+        ixz="2.71645164102371E-08"
+        iyy="4.58697895506594E-07"
+        iyz="-8.52846225435011E-11"
+        izz="1.74659590566364E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00259932539169275 -2.09536925854445E-06 0.0110174765352322"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043628669241" />
+      <inertia
+        ixx="2.6032847037415E-07"
+        ixy="5.79104972037516E-11"
+        ixz="4.11787063652271E-08"
+        iyy="2.33077663802866E-07"
+        iyz="-2.91978956610415E-11"
+        izz="1.27252388488073E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710605070655887 5.23486441320054E-06 0.0121456664241844"
+        rpy="0 0 0" />
+      <mass
+        value="0.0031445863941225" />
+      <inertia
+        ixx="1.6332208655443E-07"
+        ixy="1.96096284326007E-11"
+        ixz="4.33517042915493E-08"
+        iyy="1.48366090032445E-07"
+        iyz="-2.02778843611257E-10"
+        izz="9.85575241184011E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.000473392019250103 -6.96702861589793E-07 0.00909067743061448"
+        rpy="0 0 0" />
+      <mass
+        value="0.00903700347459465" />
+      <inertia
+        ixx="4.90035722472611E-07"
+        ixy="3.89143802264643E-11"
+        ixz="-2.78580197566552E-08"
+        iyy="7.37380420538668E-07"
+        iyz="6.37050140815369E-11"
+        izz="5.52381285093452E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.00012074 -0.030346 0.12755"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="0"
+      upper="0.3489"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000221412258607754 1.17103683876935E-06 0.0104801532987067"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982918810593" />
+      <inertia
+        ixx="4.43447910769094E-07"
+        ixy="-2.73411126621624E-12"
+        ixz="2.71644852567342E-08"
+        iyy="4.58697939807031E-07"
+        iyz="-8.52970212446317E-11"
+        izz="1.74659590066949E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.002599325191487 -2.09526073984695E-06 0.0110174765184069"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635595589" />
+      <inertia
+        ixx="2.60328472325978E-07"
+        ixy="5.7907596343404E-11"
+        ixz="4.11787064048009E-08"
+        iyy="2.33077669786026E-07"
+        iyz="-2.91977981214484E-11"
+        izz="1.27252395425297E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710605211329151 5.23471293070038E-06 0.0121456666744262"
+        rpy="0 0 0" />
+      <mass
+        value="0.0031445864920905" />
+      <inertia
+        ixx="1.63322099233008E-07"
+        ixy="1.96074242691561E-11"
+        ixz="4.33517077122639E-08"
+        iyy="1.48366101127732E-07"
+        iyz="-2.02773897050006E-10"
+        izz="9.85575276143507E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..b3e7b00
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/hand_base_link.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/index_distal.STL
new file mode 100644
index 0000000..70d4f4d
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..aee6dd9
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/index_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/index_middle.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/middle_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/pinky_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10_right/meshes/thumb_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/linkerhand_l10v6_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/linkerhand_l10v6_left.urdf
new file mode 100644
index 0000000..eff1aaf
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/linkerhand_l10v6_left.urdf
@@ -0,0 +1,615 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="linkerhand_l10v6_left">
+  <link name="hand_base_link">
+    <inertial>
+      <origin xyz="-0.00286158285153781 0.00291722319245657 0.0777013185993096" rpy="0 0 0" />
+      <mass value="0.3355217742994084" />
+      <inertia ixx="0.0006034278696208162" ixy="2.5945458100222196e-06" ixz="2.583441595747084e-06" iyy="0.0004288896033965287" iyz="1.1495620293769087e-05" izz="0.0002310010108567624" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_metacarpals_base1">
+    <inertial>
+      <origin xyz="0.0219046715712375 -9.48626705771921E-06 -0.00324883167123877" rpy="0 0 0" />
+      <mass value="0.043216860012087376" />
+      <inertia ixx="1.1574645797577225e-05" ixy="-8.984136000835386e-09" ixz="-1.1766027948925875e-06" iyy="1.6390111626656588e-05" iyz="-4.0710607121916e-09" izz="7.337029980989325e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_cmc_roll" type="revolute">
+    <origin xyz="-0.016657 -0.018426 0.057469" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="thumb_metacarpals_base1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.785" upper="0.785" effort="12" velocity="2.6" />
+  </joint>
+  <link name="thumb_metacarpals_base2">
+    <inertial>
+      <origin xyz="0.000798672868012509 -0.00104864337053465 -0.00114043413265499" rpy="0 0 0" />
+      <mass value="0.072754681016976" />
+      <inertia ixx="1.1663371590420262e-05" ixy="-2.6262973173372636e-06" ixz="1.2971095218936713e-07" iyy="9.126098693266464e-06" iyz="-2.0838721326869587e-07" izz="1.0413442973952338e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_cmc_yaw" type="revolute">
+    <origin xyz="0.028875 0 0.0020117" rpy="0 0 0" />
+    <parent link="thumb_metacarpals_base1" />
+    <child link="thumb_metacarpals_base2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+  </joint>
+  <link name="thumb_metacarpals">
+    <inertial>
+      <origin xyz="0.00175928374897715 -2.63724449372782E-05 0.0251802708036677" rpy="0 0 0" />
+      <mass value="0.06657094876365299" />
+      <inertia ixx="1.1160759345219712e-05" ixy="6.584642775411337e-10" ixz="-3.3307729548558715e-07" iyy="1.5079484426430938e-05" iyz="1.92880275356271e-09" izz="6.067229952497625e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_cmc_pitch" type="revolute">
+    <origin xyz="0.015415 -0.024336 -0.0034929" rpy="0 -1.1075 2.1313" />
+    <parent link="thumb_metacarpals_base2" />
+    <child link="thumb_metacarpals" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="0.5285" effort="12" velocity="2.6" />
+  </joint>
+  <link name="thumb_proximal">
+    <inertial>
+      <origin xyz="-0.000134514693928799 -2.62245243557585E-05 0.0155657254015052" rpy="0 0 0" />
+      <mass value="0.01958692569086711" />
+      <inertia ixx="3.4697725304988824e-06" ixy="-3.327267347721967e-11" ixz="-4.1853839437128e-07" iyy="3.0873336668433674e-06" iyz="1.54924719843834e-10" izz="1.5346507241899612e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_mcp" type="revolute">
+    <origin xyz="0.0049422 -7E-05 0.050268" rpy="0 0 0" />
+    <parent link="thumb_metacarpals" />
+    <child link="thumb_proximal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.186" effort="12" velocity="2.6" />
+    <mimic joint="thumb_cmc_pitch" multiplier="2.24" offset="0" />
+  </joint>
+  <link name="thumb_distal">
+    <inertial>
+      <origin xyz="-0.00128288196550677 -1.13361177393814E-05 0.012129617700597" rpy="0 0 0" />
+      <mass value="0.02247274403982049" />
+      <inertia ixx="1.331154618825e-06" ixy="-8.455169597234325e-10" ixz="-3.851470757664075e-07" iyy="1.3814467104262874e-06" iyz="-2.0836025487603863e-10" izz="1.0508245331573625e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_ip" type="revolute">
+    <origin xyz="-0.0040391 0 0.036444" rpy="0 0 0" />
+    <parent link="thumb_proximal" />
+    <child link="thumb_distal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.256" effort="12" velocity="2.6" />
+    <mimic joint="thumb_cmc_pitch" multiplier="2.24" offset="0" />
+  </joint>
+  <link name="index_metacarpals">
+    <inertial>
+      <origin xyz="-0.00187934702104134 -4.29029595737547E-06 0.0105055422549738" rpy="0 0 0" />
+      <mass value="0.016224861657086587" />
+      <inertia ixx="8.0558776707687e-07" ixy="1.8377983342295924e-09" ixz="-2.817580054008791e-08" iyy="1.2812078319531976e-06" iyz="1.69041309143604e-09" izz="1.1491271215581225e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_mcp_roll" type="revolute">
+    <origin xyz="-0.0021544 -0.02293 0.12973" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="index_metacarpals" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="0.2268" effort="12" velocity="2.6" />
+  </joint>
+  <link name="index_proximal">
+    <inertial>
+      <origin xyz="-0.00325185842631416 -9.13142378328041E-05 0.019519432098178" rpy="0 0 0" />
+      <mass value="0.011434388445128849" />
+      <inertia ixx="1.0145832356510137e-06" ixy="-1.2541097740821187e-09" ixz="-1.4945477444594324e-07" iyy="9.802611013521527e-07" iyz="-5.5655019976331626e-09" izz="5.3706714356802e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_mcp_pitch" type="revolute">
+    <origin xyz="0.0010315 -3.0579E-05 0.017575" rpy="0 0 0" />
+    <parent link="index_metacarpals" />
+    <child link="index_proximal" />
+    <axis xyz="0 1 0.0017399" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="index_middle">
+    <inertial>
+      <origin xyz="-0.0022016660809888 0.000323491615300016 0.0115249841516604" rpy="0 0 0" />
+      <mass value="0.012218483381070486" />
+      <inertia ixx="1.0683874793410237e-06" ixy="7.461942934849201e-09" ixz="-1.6732585065956776e-07" iyy="9.760136772745162e-07" iyz="-1.8556885538097564e-08" izz="4.997142729361838e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_pip" type="revolute">
+    <origin xyz="-0.0033727 -5.8304E-05 0.033509" rpy="0 0 0" />
+    <parent link="index_proximal" />
+    <child link="index_middle" />
+    <axis xyz="0 1 0.0017399" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="index_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="index_distal">
+    <inertial>
+      <origin xyz="0.000205178160330333 2.97745761116885E-05 0.0116641281851965" rpy="0 0 0" />
+      <mass value="0.014509336799106001" />
+      <inertia ixx="7.991034257248725e-07" ixy="1.9464314592614288e-09" ixz="-1.6209871504956675e-07" iyy="7.765077151425788e-07" iyz="-1.1850354848977276e-08" izz="4.5115066690793625e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_dip" type="revolute">
+    <origin xyz="-0.0050438 -4.4805E-05 0.025751" rpy="0 0 0" />
+    <parent link="index_middle" />
+    <child link="index_distal" />
+    <axis xyz="0 1 0.0017399" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="index_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+  <link name="middle_proximal">
+    <inertial>
+      <origin xyz="-0.00325186288011926 -5.73454604718832E-05 0.0195195889004557" rpy="0 0 0" />
+      <mass value="0.01143437156151015" />
+      <inertia ixx="1.0145776920273975e-06" ixy="-1.51391940486027e-09" ixz="-1.4945172673068563e-07" iyy="9.802739948415826e-07" iyz="-4.79580838155705e-09" izz="5.370488365697888e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_mcp_pitch" type="revolute">
+    <origin xyz="-0.0031229 -0.0039297 0.1523" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="middle_proximal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="middle_middle">
+    <inertial>
+      <origin xyz="-0.00220166609150478 0.000343543558963093 0.0115244040473821" rpy="0 0 0" />
+      <mass value="0.012218483571112725" />
+      <inertia ixx="1.068387495358361e-06" ixy="7.170795464411775e-09" ixz="-1.6733858218132874e-07" iyy="9.760768097219475e-07" iyz="-1.7728053600423598e-08" izz="4.996511408980763e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_pip" type="revolute">
+    <origin xyz="-0.0033727 0 0.03351" rpy="0 0 0" />
+    <parent link="middle_proximal" />
+    <child link="middle_middle" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="middle_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="middle_distal">
+    <inertial>
+      <origin xyz="0.000205178002779471 5.00684870747489E-05 0.0116640595818044" rpy="0 0 0" />
+      <mass value="0.014509336060454212" />
+      <inertia ixx="7.99103494186095e-07" ixy="1.6644075854798023e-09" ixz="-1.62101880036297e-07" iyy="7.765480201542825e-07" iyz="-1.1284283654957438e-08" izz="4.511104435724625e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_dip" type="revolute">
+    <origin xyz="-0.0050438 0 0.025752" rpy="0 0 0" />
+    <parent link="middle_middle" />
+    <child link="middle_distal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="middle_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+  <link name="ring_metacarpals">
+    <inertial>
+      <origin xyz="-0.00187934628453409 6.28915481682354E-05 0.01050535483118" rpy="0 0 0" />
+      <mass value="0.016224861826704375" />
+      <inertia ixx="8.0558777445087e-07" ixy="1.6576144109981775e-09" ixz="-2.818699813825459e-08" iyy="1.2811809055950375e-06" iyz="2.5348853775173285e-09" izz="1.149154228484606e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_mcp_roll" type="revolute">
+    <origin xyz="-0.0021544 0.01507 0.12973" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="ring_metacarpals" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2093" upper="0" effort="12" velocity="2.6" />
+  </joint>
+  <link name="ring_proximal">
+    <inertial>
+      <origin xyz="-0.00325187412247893 3.35367654908103E-05 0.0195197185420488" rpy="0 0 0" />
+      <mass value="0.011434328218145325" />
+      <inertia ixx="1.0145627036440988e-06" ixy="-2.208986407970441e-09" ixz="-1.4944134457087498e-07" iyy="9.802951610013824e-07" iyz="-2.7363971232884886e-09" izz="5.370130646189587e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_mcp_pitch" type="revolute">
+    <origin xyz="0.0010315 8.1812E-05 0.017575" rpy="0 0 0" />
+    <parent link="ring_metacarpals" />
+    <child link="ring_proximal" />
+    <axis xyz="0 0.99999 0.004655" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="ring_middle">
+    <inertial>
+      <origin xyz="-0.00220166566802396 0.0003971864509561 0.0115226809862077" rpy="0 0 0" />
+      <mass value="0.012218485156099463" />
+      <inertia ixx="1.0683875734537313e-06" ixy="6.3917456478722626e-09" ixz="-1.6737017512398825e-07" iyy="9.76231589018535e-07" iyz="-1.550953559747006e-08" izz="4.994964896570513e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_pip" type="revolute">
+    <origin xyz="-0.0033727 0.00015599 0.033509" rpy="0 0 0" />
+    <parent link="ring_proximal" />
+    <child link="ring_middle" />
+    <axis xyz="0 0.99999 -0.004655" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="ring_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="ring_distal">
+    <inertial>
+      <origin xyz="0.00020517760398206 0.000104362588540907 0.0116637013134471" rpy="0 0 0" />
+      <mass value="0.014509335448655588" />
+      <inertia ixx="7.991035897706663e-07" ixy="9.099023825169151e-10" ixz="-1.6210769709474564e-07" iyy="7.766461271067113e-07" iyz="-9.769082387474625e-09" izz="4.5101234324468245e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_dip" type="revolute">
+    <origin xyz="-0.0050438 0.00011987 0.025751" rpy="0 0 0" />
+    <parent link="ring_middle" />
+    <child link="ring_distal" />
+    <axis xyz="0 0.99999 0.004655" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="ring_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+  <link name="pinky_metacarpals">
+    <inertial>
+      <origin xyz="-0.00187934584633366 9.14587641305045E-05 0.0105051449327144" rpy="0 0 0" />
+      <mass value="0.01622486185826846" />
+      <inertia ixx="8.055877760354588e-07" ixy="1.580978999260455e-09" ixz="-2.8191413006936475e-08" iyy="1.2811661928912075e-06" iyz="2.8938639760594312e-09" izz="1.1491690360812113e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_mcp_roll" type="revolute">
+    <origin xyz="-0.00015438 0.03407 0.12473" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="pinky_metacarpals" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.3663" upper="0" effort="12" velocity="2.6" />
+  </joint>
+  <link name="pinky_proximal">
+    <inertial>
+      <origin xyz="-0.00325188069079595 8.66277107426164E-05 0.0195195983618728" rpy="0 0 0" />
+      <mass value="0.011434302908387288" />
+      <inertia ixx="1.0145539577295488e-06" ixy="-2.6149926159884515e-09" ixz="-1.494337859823311e-07" iyy="9.802986867926886e-07" iyz="-1.5332940100896112e-09" izz="5.370010166208637e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_mcp_pitch" type="revolute">
+    <origin xyz="0.0010315 0.0001296 0.017575" rpy="0 0 0" />
+    <parent link="pinky_metacarpals" />
+    <child link="pinky_proximal" />
+    <axis xyz="0 0.99997 0.0073743" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="pinky_middle">
+    <inertial>
+      <origin xyz="-0.00220166565850555 0.000428518931293857 0.0115215583189701" rpy="0 0 0" />
+      <mass value="0.012218485199683349" />
+      <inertia ixx="1.0683875758478289e-06" ixy="5.9365875265233376e-09" ixz="-1.6738693800481951e-07" iyy="9.763124152716262e-07" iyz="-1.4212912019423661e-08" izz="4.994156657049562e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_pip" type="revolute">
+    <origin xyz="-0.0033727 0.00024711 0.033509" rpy="0 0 0" />
+    <parent link="pinky_proximal" />
+    <child link="pinky_middle" />
+    <axis xyz="0 0.99997 -0.0073743" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="pinky_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="pinky_distal">
+    <inertial>
+      <origin xyz="0.00020517666108498 0.00013607814642172 0.0116633786905161" rpy="0 0 0" />
+      <mass value="0.014509341713357138" />
+      <inertia ixx="7.991040144036225e-07" ixy="4.6910343585054e-10" ixz="-1.6210978417854824e-07" iyy="7.766972783161012e-07" iyz="-8.883595821726824e-09" izz="4.5096160321433253e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_dip" type="revolute">
+    <origin xyz="-0.0050438 0.0001899 0.025751" rpy="0 0 0" />
+    <parent link="pinky_middle" />
+    <child link="pinky_distal" />
+    <axis xyz="0 0.99997 0.0073743" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="pinky_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..2b7578d
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_distal.STL
new file mode 100644
index 0000000..bba5f2f
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..27e08c6
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_middle.STL
new file mode 100644
index 0000000..7c6b2e7
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_proximal.STL
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index 0000000..522c623
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/middle_distal.STL
new file mode 100644
index 0000000..21bcc83
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/middle_middle.STL
new file mode 100644
index 0000000..b006486
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/middle_proximal.STL
new file mode 100644
index 0000000..b13502a
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_distal.STL
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index 0000000..085a529
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_metacarpals.STL
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index 0000000..f4967be
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_middle.STL
new file mode 100644
index 0000000..1b4136e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_proximal.STL
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index 0000000..902a7f8
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/pinky_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/ring_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/ring_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/ring_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/ring_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/ring_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/meshes/thumb_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/linkerhand_l10v6_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/linkerhand_l10v6_right.urdf
new file mode 100644
index 0000000..e411b5d
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/linkerhand_l10v6_right.urdf
@@ -0,0 +1,616 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="linkerhand_l10v6_right">
+  <link name="hand_base_link">
+    <inertial>
+      <origin xyz="-0.00286347879502209 -0.00291920793459412 0.0777039265521249" rpy="0 0 0" />
+      <mass value="0.34354881926881575" />
+      <inertia ixx="0.0006178871752045478" ixy="-2.6576672120597222e-06" ixz="2.644117899209207e-06" iyy="0.0004391769273380083" iyz="-1.1762516839714137e-05" izz="0.00023652230989361893" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.647058823529412 0.647058823529412 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_metacarpals_base1">
+    <inertial>
+      <origin xyz="0.0219057134643327 9.49674838770457E-06 -0.00324810090530754" rpy="0 0 0" />
+      <mass value="0.04425566779982592" />
+      <inertia ixx="1.1852816733124185e-05" ixy="9.441105696879437e-09" ixz="-1.2040585542422053e-06" iyy="1.6784567894153087e-05" iyz="4.205957445384576e-09" izz="7.51362035067644e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_cmc_roll" type="revolute">
+    <origin xyz="-0.016657 0.018426 0.057469" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="thumb_metacarpals_base1" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.785" upper="0.785" effort="12" velocity="2.6" />
+  </joint>
+  <link name="thumb_metacarpals_base2">
+    <inertial>
+      <origin xyz="-2.13696487971187E-05 0.000548476689927899 0.000535082566625092" rpy="0 0 0" />
+      <mass value="0.06546850411934668" />
+      <inertia ixx="1.307174350729106e-05" ixy="1.96771531370832e-09" ixz="-1.8601062187867814e-10" iyy="1.0016637448506202e-05" iyz="-2.501411970067449e-07" izz="7.4714107981233404e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_cmc_yaw" type="revolute">
+    <origin xyz="0.029035 -1.086E-05 0.0020117" rpy="-1.5708 0 -0.56048" />
+    <parent link="thumb_metacarpals_base1" />
+    <child link="thumb_metacarpals_base2" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+  </joint>
+  <link name="thumb_metacarpals">
+    <inertial>
+      <origin xyz="0.00175933658923561 -5.34357170904262E-05 0.0251801046995344" rpy="0 0 0" />
+      <mass value="0.0681681057244462" />
+      <inertia ixx="1.1428496819233036e-05" ixy="-7.105704903710669e-10" ixz="-3.4099333197868415e-07" iyy="1.5441242890870885e-05" iyz="-1.890889946878245e-09" izz="6.212818723727155e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_cmc_pitch" type="revolute">
+    <origin xyz="5.9553E-05 0.0034929 0.028731" rpy="0 0.46329 -1.5708" />
+    <parent link="thumb_metacarpals_base2" />
+    <child link="thumb_metacarpals" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="0.5286" effort="12" velocity="2.6" />
+
+  </joint>
+  <link name="thumb_proximal">
+    <inertial>
+      <origin xyz="-0.000134526311847863 1.60765957719381E-05 0.01556576964587" rpy="0 0 0" />
+      <mass value="0.020057039570174552" />
+      <inertia ixx="3.5530531107881776e-06" ixy="6.351417949453592e-11" ixz="-4.285819273526554e-07" iyy="3.161423474876087e-06" iyz="-2.0862801826831755e-10" izz="1.5714863583246567e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_mcp" type="revolute">
+    <origin xyz="0.0049422 0 0.050268" rpy="0 0 0" />
+    <parent link="thumb_metacarpals" />
+    <child link="thumb_proximal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.0467" effort="12" velocity="2.6" />
+    <mimic joint="thumb_cmc_pitch" multiplier="2.24" offset="0" />
+  </joint>
+  <link name="thumb_distal">
+    <inertial>
+      <origin xyz="-0.00128308160618328 1.75396134370794E-06 0.0121298685711615" rpy="0 0 0" />
+      <mass value="0.023012842812374323" />
+      <inertia ixx="1.3631533246000513e-06" ixy="8.366071439323084e-10" ixz="-3.9443488272470783e-07" iyy="1.4146932466147507e-06" iyz="2.739716207650345e-10" izz="1.0760890638017126e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_ip" type="revolute">
+    <origin xyz="-0.0040391 0 0.036444" rpy="0 0 0" />
+    <parent link="thumb_proximal" />
+    <child link="thumb_distal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.256" effort="12" velocity="2.6" />
+    <mimic joint="thumb_cmc_pitch" multiplier="2.38" offset="0" />
+  </joint>
+  <link name="index_metacarpals">
+    <inertial>
+      <origin xyz="-0.00188108592137497 -1.42567965351467E-05 0.0105056794609021" rpy="0 0 0" />
+      <mass value="0.016614213530707737" />
+      <inertia ixx="8.249273957455641e-07" ixy="-1.815364018501298e-09" ixz="-2.885560539105427e-08" iyy="1.3119372662724172e-06" iyz="-2.000580101959231e-09" izz="1.176668457306931e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_mcp_roll" type="revolute">
+    <origin xyz="-0.0021525 0.02293 0.12973" rpy="-0.0017399 0 0" />
+    <parent link="hand_base_link" />
+    <child link="index_metacarpals" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2268" upper="0" effort="12" velocity="2.6" />
+  </joint>
+  <link name="index_proximal">
+    <inertial>
+      <origin xyz="-0.00325182727688448 5.73208143654935E-05 0.019519586479303" rpy="0 0 0" />
+      <mass value="0.01170870731662533" />
+      <inertia ixx="1.0389451930721624e-06" ixy="1.5702800486767717e-09" ixz="-1.5305796221391668e-07" iyy="1.0038247617527577e-06" iyz="4.9216287560005635e-09" izz="5.499416404538266e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_mcp_pitch" type="revolute">
+    <origin xyz="0.0010297 0 0.017575" rpy="0 0 0" />
+    <parent link="index_metacarpals" />
+    <child link="index_proximal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="index_middle">
+    <inertial>
+      <origin xyz="-0.00220167944983096 -0.000343531861158337 0.0115244059284959" rpy="0 0 0" />
+      <mass value="0.012511711108351411" />
+      <inertia ixx="1.09403184194524e-06" ixy="-7.343580587040652e-09" ixz="-1.713550177471346e-07" iyy="9.995027922615628e-07" iyz="1.814980893210536e-08" izz="5.116399235904653e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_pip" type="revolute">
+    <origin xyz="-0.0033727 0 0.03351" rpy="0 0 0" />
+    <parent link="index_proximal" />
+    <child link="index_middle" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="index_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="index_distal">
+    <inertial>
+      <origin xyz="0.000205019632210583 -5.00613995397879E-05 0.011664419717934" rpy="0 0 0" />
+      <mass value="0.014858278875807667" />
+      <inertia ixx="8.183645219801856e-07" ixy="-1.721484162975552e-09" ixz="-1.6604218012401215e-07" iyy="7.953022338283046e-07" iyz="1.159195286292745e-08" izz="4.619653286401574e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_dip" type="revolute">
+    <origin xyz="-0.0050438 0 0.025752" rpy="0 0 0" />
+    <parent link="index_middle" />
+    <child link="index_distal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="index_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+  <link name="middle_proximal">
+    <inertial>
+      <origin xyz="-0.00325183241327447 5.73145378679994E-05 0.0195196140929391" rpy="0 0 0" />
+      <mass value="0.011708689871923124" />
+      <inertia ixx="1.038939259376375e-06" ixy="1.5700442643739276e-09" ixz="-1.5305711009694564e-07" iyy="1.003819311570647e-06" iyz="4.923150795055104e-09" izz="5.499413204862797e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_mcp_pitch" type="revolute">
+    <origin xyz="-0.0031229 0.0039297 0.1523" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="middle_proximal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="middle_middle">
+    <inertial>
+      <origin xyz="-0.00220167959658282 -0.000343532177140834 0.0115244055184866" rpy="0 0 0" />
+      <mass value="0.012511710480750374" />
+      <inertia ixx="1.0940318011177228e-06" ixy="-7.3435689297810425e-09" ixz="-1.7135500823729585e-07" iyy="9.99502768753843e-07" iyz="1.8149788846409702e-08" izz="5.116398953542118e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.490196078431373 0.490196078431373 0.490196078431373 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_pip" type="revolute">
+    <origin xyz="-0.0033727 0 0.03351" rpy="0 0 0" />
+    <parent link="middle_proximal" />
+    <child link="middle_middle" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="middle_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="middle_distal">
+    <inertial>
+      <origin xyz="0.000205019955498292 -5.00610236550576E-05 0.0116644182424609" rpy="0 0 0" />
+      <mass value="0.014858277037854526" />
+      <inertia ixx="8.183643560372697e-07" ixy="-1.7215208392080729e-09" ixz="-1.6604222237136692e-07" iyy="7.953020717317786e-07" iyz="1.1592021008249165e-08" izz="4.6196533701401466e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_dip" type="revolute">
+    <origin xyz="-0.0050438 0 0.025752" rpy="0 0 0" />
+    <parent link="middle_middle" />
+    <child link="middle_distal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="middle_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+  <link name="ring_metacarpals">
+    <inertial>
+      <origin xyz="-0.00187924037259886 -1.42570579967985E-05 0.0105056794808792" rpy="0 0 0" />
+      <mass value="0.016614214319408793" />
+      <inertia ixx="8.249274470022796e-07" ixy="-1.8153806663760922e-09" ixz="-2.8855621081547444e-08" iyy="1.3119374075338137e-06" iyz="-2.0006344439242634e-09" izz="1.1766685889930342e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_mcp_roll" type="revolute">
+    <origin xyz="-0.0021544 -0.01507 0.12973" rpy="0.004655 0 0" />
+    <parent link="hand_base_link" />
+    <child link="ring_metacarpals" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="0.2093" effort="12" velocity="2.6" />
+  </joint>
+  <link name="ring_proximal">
+    <inertial>
+      <origin xyz="-0.00325184610536779 5.72981834254804E-05 0.0195196887550617" rpy="0 0 0" />
+      <mass value="0.011708644033664218" />
+      <inertia ixx="1.038923129488147e-06" ixy="1.5694398778912896e-09" ixz="-1.530547828532344e-07" iyy="1.003804420601422e-06" iyz="4.927247600437325e-09" izz="5.499404607173837e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_mcp_pitch" type="revolute">
+    <origin xyz="0.0010315 0 0.017575" rpy="0 0 0" />
+    <parent link="ring_metacarpals" />
+    <child link="ring_proximal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="ring_middle">
+    <inertial>
+      <origin xyz="-0.00220167991130209 -0.000343532588890416 0.0115244046530842" rpy="0 0 0" />
+      <mass value="0.012511709056521332" />
+      <inertia ixx="1.094031710078761e-06" ixy="-7.34355479582569e-09" ixz="-1.713549882715768e-07" iyy="9.995027132585127e-07" iyz="1.814976770984882e-08" izz="5.11639832103072e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_pip" type="revolute">
+    <origin xyz="-0.0033727 0 0.03351" rpy="0 0 0" />
+    <parent link="ring_proximal" />
+    <child link="ring_middle" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="ring_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="ring_distal">
+    <inertial>
+      <origin xyz="0.000205021714718284 -5.00576330846325E-05 0.0116644156669932" rpy="0 0 0" />
+      <mass value="0.014858274891747264" />
+      <inertia ixx="8.183641976715379e-07" ixy="-1.7217353245923224e-09" ixz="-1.6604208827509671e-07" iyy="7.95301653353257e-07" iyz="1.1592408668350541e-08" izz="4.6196513029322874e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_dip" type="revolute">
+    <origin xyz="-0.0050438 0 0.025752" rpy="0 0 0" />
+    <parent link="ring_middle" />
+    <child link="ring_distal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="ring_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+  <link name="pinky_metacarpals">
+    <inertial>
+      <origin xyz="-0.00187924024653063 -1.42571654797655E-05 0.0105056794696284" rpy="0 0 0" />
+      <mass value="0.01661421467628334" />
+      <inertia ixx="8.249274689039924e-07" ixy="-1.8153921520978174e-09" ixz="-2.8855628111597604e-08" iyy="1.311937481623849e-06" iyz="-2.0006592557747135e-09" izz="1.1766686591478873e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_mcp_roll" type="revolute">
+    <origin xyz="-0.00015438 -0.03407 0.12473" rpy="0.0073744 0 0" />
+    <parent link="hand_base_link" />
+    <child link="pinky_metacarpals" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="0.3663" effort="12" velocity="2.6" />
+  </joint>
+  <link name="pinky_proximal">
+    <inertial>
+      <origin xyz="-0.00324745962886003 6.97057679159424E-05 0.0194696777265621" rpy="0 0 0" />
+      <mass value="0.011736005978942131" />
+      <inertia ixx="1.0519416224053093e-06" ixy="1.956915326417445e-09" ixz="-1.545816068113313e-07" iyy="1.0161859331803621e-06" iyz="1.6697634209632857e-09" izz="5.509476726673267e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_mcp_pitch" type="revolute">
+    <origin xyz="0.0010315 0 0.017575" rpy="0 0 0" />
+    <parent link="pinky_metacarpals" />
+    <child link="pinky_proximal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="pinky_middle">
+    <inertial>
+      <origin xyz="-0.00220167992020897 -0.000343532603299626 0.0115244046300094" rpy="0 0 0" />
+      <mass value="0.01251170901822359" />
+      <inertia ixx="1.0940317076393356e-06" ixy="-7.343554263542592e-09" ixz="-1.7135498768773633e-07" iyy="9.995027118433804e-07" iyz="1.814976697428645e-08" izz="5.116398304222848e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_pip" type="revolute">
+    <origin xyz="-0.0033727 0 0.03351" rpy="0 0 0" />
+    <parent link="pinky_proximal" />
+    <child link="pinky_middle" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="pinky_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="pinky_distal">
+    <inertial>
+      <origin xyz="0.000205022549105534 -5.0056002684748E-05 0.0116644157108276" rpy="0 0 0" />
+      <mass value="0.014858275630682649" />
+      <inertia ixx="8.183641423891162e-07" ixy="-1.721808186645477e-09" ixz="-1.660419484057267e-07" iyy="7.953016309158144e-07" iyz="1.1592588912071308e-08" izz="4.6196518084538117e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_dip" type="revolute">
+    <origin xyz="-0.0050438 0 0.025752" rpy="0 0 0" />
+    <parent link="pinky_middle" />
+    <child link="pinky_distal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="pinky_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+</robot>
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/hand_base_link.STL
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index 0000000..aa07554
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/index_distal.STL
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index 0000000..4fd659c
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/index_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/index_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/index_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/middle_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/middle_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/middle_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/pinky_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/pinky_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/pinky_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/pinky_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/pinky_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/ring_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/ring_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/ring_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/thumb_proximal.STL
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Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_right/meshes/thumb_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/linkerhand_l10v7_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/linkerhand_l10v7_left.urdf
new file mode 100644
index 0000000..fbc114f
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/linkerhand_l10v7_left.urdf
@@ -0,0 +1,1247 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_l10_7_left.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00378861347427444 0.000820204450212636 0.0805686615687793"
+        rpy="0 0 0" />
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+        ixy="-1.28622350247984E-06"
+        ixz="2.06064564158949E-07"
+        iyy="0.00012926288517179"
+        iyz="2.33887125852557E-06"
+        izz="7.7154522927083E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
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+        iyz="6.88489366314261E-08"
+        izz="7.36187487063603E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
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+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
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+    <limit
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+      upper="1.1339"
+      effort="100"
+      velocity="1" />
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+  <link
+    name="thumb_metacarpals_base2">
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
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+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
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+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
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+    <limit
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+      effort="100"
+      velocity="1" />
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+  <link
+    name="thumb_metacarpals">
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
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+      <material
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+        <color
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+      <origin
+        xyz="0 0 0"
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+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
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+    type="revolute">
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+    <visual>
+      <origin
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
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+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
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+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
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+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
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+      upper="0.7152"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.3898"
+      offset="0" />
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+  <link
+    name="thumb_distal">
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+        rpy="0 0 0" />
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+        iyz="1.24601619348998E-10"
+        izz="2.48874162996129E-07" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00017064 0 0.038665"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
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+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.508"
+      offset="0" />
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+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
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+    <visual>
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+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
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+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
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+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
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+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
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+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
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+    type="revolute">
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+      rpy="0 0 0" />
+    <parent
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+      velocity="1" />
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+        name="">
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+          rgba="1 1 1 1" />
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
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+    name="index_pip"
+    type="revolute">
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+      rpy="0 0 0" />
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+      link="index_proximal" />
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+          filename="meshes/index_distal.STL" />
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+          filename="meshes/index_distal.STL" />
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+    type="revolute">
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+    <visual>
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+        xyz="0 0 0"
+        rpy="0 0 0" />
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+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
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+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
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+    name="middle_mcp_pitch"
+    type="revolute">
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+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
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+      effort="100"
+      velocity="1" />
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+    name="middle_middle">
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+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
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+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
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+    </visual>
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+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
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+  </link>
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+    name="middle_pip"
+    type="revolute">
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+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
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+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
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+  <link
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+        ixx="1.63189533228873E-07"
+        ixy="-2.12447856725291E-11"
+        ixz="4.34448768867267E-08"
+        iyy="1.48361296215225E-07"
+        iyz="1.96771697224987E-10"
+        izz="9.86831899309453E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0055098 0 0.025656"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00152426817464828 6.05770268197192E-07 0.010691159612339"
+        rpy="0 0 0" />
+      <mass
+        value="0.00388771277323251" />
+      <inertia
+        ixx="1.87385239390142E-07"
+        ixy="-1.50747799012373E-11"
+        ixz="-1.35851521243144E-08"
+        iyy="2.75278189614442E-07"
+        iyz="-2.13460044414369E-11"
+        izz="2.06630683818817E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0021643 0.011346 0.13253"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="-0.2181"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00138261330266684 -2.0447785264166E-06 0.0182296118982312"
+        rpy="0 0 0" />
+      <mass
+        value="0.0031624671652163" />
+      <inertia
+        ixx="3.56395781426818E-07"
+        ixy="-1.51970550291323E-11"
+        ixz="4.33017653956416E-08"
+        iyy="3.51905919284355E-07"
+        iyz="1.08366441004821E-10"
+        izz="1.4161197116697E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00259933547466245 2.18954477221311E-06 0.0110174751134697"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043915953111" />
+      <inertia
+        ixx="2.60328598871493E-07"
+        ixy="-5.78718096660343E-11"
+        ixz="4.11785818944011E-08"
+        iyy="2.33077515495018E-07"
+        iyz="2.81941916146631E-11"
+        izz="1.27252331273933E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710517105065085 -4.75636578367578E-06 0.0121453401469508"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452208497789" />
+      <inertia
+        ixx="1.63317386570295E-07"
+        ixy="-2.09324585080789E-11"
+        ixz="4.33497128582753E-08"
+        iyy="1.48361350800559E-07"
+        iyz="1.9679121866702E-10"
+        izz="9.85553885284675E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.0015242681746482 6.05770268197192E-07 0.010691159612339"
+        rpy="0 0 0" />
+      <mass
+        value="0.00388771277323252" />
+      <inertia
+        ixx="1.87385239390143E-07"
+        ixy="-1.50747799026559E-11"
+        ixz="-1.35851521243143E-08"
+        iyy="2.75278189614442E-07"
+        iyz="-2.13460044423049E-11"
+        izz="2.06630683818817E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.00012074 0.030346 0.12755"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="-0.3489"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.0013826133500916 -2.04480739013357E-06 0.0182296115873023"
+        rpy="0 0 0" />
+      <mass
+        value="0.00316246721927742" />
+      <inertia
+        ixx="3.56395782184299E-07"
+        ixy="-1.51975383069221E-11"
+        ixz="4.33017644806427E-08"
+        iyy="3.51905921292737E-07"
+        iyz="1.08366128612708E-10"
+        izz="1.41611972744827E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.0025993354746625 2.18954477224087E-06 0.0110174751134698"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043915953116" />
+      <inertia
+        ixx="2.60328598871551E-07"
+        ixy="-5.78718096771597E-11"
+        ixz="4.11785818944279E-08"
+        iyy="2.33077515495214E-07"
+        iyz="2.81941916132638E-11"
+        izz="1.27252331274066E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710517460743719 -4.75730252216811E-06 0.0121453361986339"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452044951957" />
+      <inertia
+        ixx="1.63317337383031E-07"
+        ixy="-2.09430019728007E-11"
+        ixz="4.33496839959002E-08"
+        iyy="1.48361292034124E-07"
+        iyz="1.96809590206387E-10"
+        izz="9.85553441949477E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..510452a
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/hand_base_link.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_distal.STL
new file mode 100644
index 0000000..45d509e
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..b42a241
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_middle.STL
new file mode 100644
index 0000000..0f61c46
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_proximal.STL
new file mode 100644
index 0000000..b234ac5
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/middle_distal.STL
new file mode 100644
index 0000000..744c102
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/middle_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/middle_middle.STL
new file mode 100644
index 0000000..45f42c9
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/middle_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/middle_proximal.STL
new file mode 100644
index 0000000..9c9148a
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/middle_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_distal.STL
new file mode 100644
index 0000000..a093402
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_metacarpals.STL
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index 0000000..a1747e5
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_middle.STL
new file mode 100644
index 0000000..2f1fc95
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..9959832
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/pinky_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/ring_distal.STL
new file mode 100644
index 0000000..85da730
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/ring_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/ring_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/ring_metacarpals.STL
new file mode 100644
index 0000000..65147dd
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/ring_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/ring_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_distal.STL
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index 0000000..0092eb3
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_left/meshes/thumb_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/linkerhand_l10v7_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/linkerhand_l10v7_right.urdf
new file mode 100644
index 0000000..85b7010
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/linkerhand_l10v7_right.urdf
@@ -0,0 +1,1247 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_l10_7_right.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00378572993474923 -0.000415839048931058 0.0836392883613671"
+        rpy="0 0 0" />
+      <mass
+        value="0.10884427610512" />
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+        ixx="0.00019345483956042"
+        ixy="1.28842682703635E-06"
+        ixz="1.97005632028112E-07"
+        iyy="0.000129793182936336"
+        iyz="-2.34961034039841E-06"
+        izz="7.75126657491835E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0.6 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0284774593036823 -0.00319295610820959 0.000288698025133524"
+        rpy="0 0 0" />
+      <mass
+        value="0.0084581719416891" />
+      <inertia
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+        ixy="1.18207329998214E-07"
+        ixz="-1.77710409325651E-08"
+        iyy="9.82563824235415E-07"
+        iyz="-6.88503841796069E-08"
+        izz="7.36195207923163E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.013419 0.012551 0.060602"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="0.99996 0 -0.0087265" />
+    <limit
+      lower="0"
+      upper="1.1339"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
+      <mass
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+        iyy="2.74551538715439E-07"
+        iyz="-1.11420623852877E-08"
+        izz="1.7708647486189E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.035797 -0.00065879 0.00045944"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0.008517 -0.21782 -0.97595" />
+    <limit
+      lower="0"
+      upper="1.9189"
+      effort="100"
+      velocity="0" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00183661834550107 -2.80742940476572E-06 0.0269905020099197"
+        rpy="0 0 0" />
+      <mass
+        value="0.0152011697874328" />
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+        iyz="4.18316149481869E-10"
+        izz="1.32007495243356E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.592156862745098 0.666666666666667 0.682352941176471 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0046051 0.014383 -0.0051478"
+      rpy="0.16356 -1.1191 -2.0038" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.5146"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.00159270226880857 -4.4335770623613E-06 0.0151573535592338"
+        rpy="0 0 0" />
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+        iyy="9.10433196570128E-07"
+        iyz="2.59867251981586E-11"
+        izz="4.4746314468008E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.6 0.6 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0061722 0 0.047968"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.7152"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.3898"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00138919652929166 1.66654390589688E-06 0.0115790399688877"
+        rpy="0 0 0" />
+      <mass
+        value="0.00512933613321634" />
+      <inertia
+        ixx="3.30969722600772E-07"
+        ixy="-3.44780214263253E-10"
+        ixz="1.04733139974397E-07"
+        iyy="3.23809589950991E-07"
+        iyz="-8.21573772773073E-11"
+        izz="2.489052525811E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.4 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00017064 0 0.038665"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.7763"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.508"
+      offset="0" />
+  </joint>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.000473392019250098 -6.96702861594997E-07 0.00909067743061448"
+        rpy="0 0 0" />
+      <mass
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+        ixy="3.89143802263231E-11"
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+        iyz="6.37050140815271E-11"
+        izz="5.52381285093451E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0021643 0.026654 0.13253"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_metacarpals" />
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+      xyz="0.99996 0 0.0087265" />
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+      lower="-0.2181"
+      upper="0"
+      effort="100"
+      velocity="1" />
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+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000221409784741484 1.17214413283134E-06 0.0104801609243648"
+        rpy="0 0 0" />
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+        ixz="2.71645765576885E-08"
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+        iyz="-8.52649515921746E-11"
+        izz="1.7465947341041E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.00259932519148708 -2.09526073980532E-06 0.0110174765184068"
+        rpy="0 0 0" />
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+        iyz="-2.91977981203693E-11"
+        izz="1.27252395425434E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710605319534495 5.23484329792434E-06 0.0121456668819466"
+        rpy="0 0 0" />
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+        iyz="-2.0277830463002E-10"
+        izz="9.85575309385827E-08" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
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+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000226219980586555 1.17216483217115E-06 0.0104800581470382"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982478226948" />
+      <inertia
+        ixx="4.43422823045881E-07"
+        ixy="-2.65801609336249E-12"
+        ixz="2.72879331079687E-08"
+        iyy="4.58697754707372E-07"
+        iyz="-8.52654749041276E-11"
+        izz="1.746844667607E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021316 0.0076542 0.15281"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.00261699473119732 -2.09526685195343E-06 0.0110132928110042"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635504843" />
+      <inertia
+        ixx="2.60196021834948E-07"
+        ixy="5.79547865424082E-11"
+        ixz="4.1391958359388E-08"
+        iyy="2.33077669434872E-07"
+        iyz="-2.91048412607941E-11"
+        izz="1.27384845266404E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.001397 0 0.035623"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.000728492686368068 5.23463091207845E-06 0.0121446078355904"
+        rpy="0 0 0" />
+      <mass
+        value="0.0031445865911477" />
+      <inertia
+        ixx="1.6319430020531E-07"
+        ixy="1.99064061423831E-11"
+        ixz="4.34469141575623E-08"
+        iyy="1.48366133401933E-07"
+        iyz="-2.0274172110168E-10"
+        izz="9.86853634492536E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0055098 0 0.025656"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.000473392019250147 -6.96702861586324E-07 0.00909067743061451"
+        rpy="0 0 0" />
+      <mass
+        value="0.00903700347459463" />
+      <inertia
+        ixx="4.90035722472612E-07"
+        ixy="3.89143802227228E-11"
+        ixz="-2.78580197566549E-08"
+        iyy="7.37380420538669E-07"
+        iyz="6.37050140810733E-11"
+        izz="5.52381285093452E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0021643 -0.011346 0.13253"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="0"
+      upper="0.2181"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000221412177759527 1.17116513872681E-06 0.0104801549347171"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982867950541" />
+      <inertia
+        ixx="4.43447863010516E-07"
+        ixy="-2.73227024213763E-12"
+        ixz="2.71645164102371E-08"
+        iyy="4.58697895506594E-07"
+        iyz="-8.52846225435011E-11"
+        izz="1.74659590566364E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00259932539169275 -2.09536925854445E-06 0.0110174765352322"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043628669241" />
+      <inertia
+        ixx="2.6032847037415E-07"
+        ixy="5.79104972037516E-11"
+        ixz="4.11787063652271E-08"
+        iyy="2.33077663802866E-07"
+        iyz="-2.91978956610415E-11"
+        izz="1.27252388488073E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710605070655887 5.23486441320054E-06 0.0121456664241844"
+        rpy="0 0 0" />
+      <mass
+        value="0.0031445863941225" />
+      <inertia
+        ixx="1.6332208655443E-07"
+        ixy="1.96096284326007E-11"
+        ixz="4.33517042915493E-08"
+        iyy="1.48366090032445E-07"
+        iyz="-2.02778843611257E-10"
+        izz="9.85575241184011E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.000473392019250103 -6.96702861589793E-07 0.00909067743061448"
+        rpy="0 0 0" />
+      <mass
+        value="0.00903700347459465" />
+      <inertia
+        ixx="4.90035722472611E-07"
+        ixy="3.89143802264643E-11"
+        ixz="-2.78580197566552E-08"
+        iyy="7.37380420538668E-07"
+        iyz="6.37050140815369E-11"
+        izz="5.52381285093452E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.00012074 -0.030346 0.12755"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="0.99996 0 0.0087265" />
+    <limit
+      lower="0"
+      upper="0.3489"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000221412258607754 1.17103683876935E-06 0.0104801532987067"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982918810593" />
+      <inertia
+        ixx="4.43447910769094E-07"
+        ixy="-2.73411126621624E-12"
+        ixz="2.71644852567342E-08"
+        iyy="4.58697939807031E-07"
+        iyz="-8.52970212446317E-11"
+        izz="1.74659590066949E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0020763 0 0.015294"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3607"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.002599325191487 -2.09526073984695E-06 0.0110174765184069"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635595589" />
+      <inertia
+        ixx="2.60328472325978E-07"
+        ixy="5.7907596343404E-11"
+        ixz="4.11787064048009E-08"
+        iyy="2.33077669786026E-07"
+        iyz="-2.91977981214484E-11"
+        izz="1.27252395425297E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0013807 0 0.035624"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.8317"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.3462"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710605211329151 5.23471293070038E-06 0.0121456666744262"
+        rpy="0 0 0" />
+      <mass
+        value="0.0031445864920905" />
+      <inertia
+        ixx="1.63322099233008E-07"
+        ixy="1.96074242691561E-11"
+        ixz="4.33517077122639E-08"
+        iyy="1.48366101127732E-07"
+        iyz="-2.02773897050006E-10"
+        izz="9.85575276143507E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0054686 0 0.025665"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.628"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.4616"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..b3e7b00
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/hand_base_link.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_distal.STL
new file mode 100644
index 0000000..70d4f4d
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..aee6dd9
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_middle.STL
new file mode 100644
index 0000000..8a58ace
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_proximal.STL
new file mode 100644
index 0000000..0f2c0e1
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/middle_distal.STL
new file mode 100644
index 0000000..764f7cc
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/middle_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/middle_middle.STL
new file mode 100644
index 0000000..dfd7957
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/middle_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/middle_proximal.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/pinky_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/ring_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/ring_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v7_right/meshes/thumb_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/linkerhand_l20_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/linkerhand_l20_left.urdf
new file mode 100644
index 0000000..3105751
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/linkerhand_l20_left.urdf
@@ -0,0 +1,1536 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<!-- Version 1.0.0.0-->
+<robot
+  name="linker_hand_l20_left">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.0102819628820777 0.00352641851193297 0.0845625151460371"
+        rpy="0 0 0" />
+      <mass
+        value="0.116519983042262" />
+      <inertia
+        ixx="0.00019944210307509"
+        ixy="-7.05605431038632E-07"
+        ixz="9.49122643259644E-06"
+        iyy="0.000117228286374775"
+        iyz="1.03483331654002E-06"
+        izz="0.000108619139525183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_link0">
+    <inertial>
+      <origin
+        xyz="0.012788845174661 -0.00250559878805773 0.00163109877141342"
+        rpy="0 0 0" />
+      <mass
+        value="0.00274800455467183" />
+      <inertia
+        ixx="2.95792392813721E-07"
+        ixy="1.62810384545754E-08"
+        ixz="-1.23984593797188E-08"
+        iyy="9.81491501739537E-08"
+        iyz="1.15849987920073E-08"
+        izz="2.81863306848207E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_joint0"
+    type="revolute">
+    <origin
+      xyz="-0.0025188 -0.0050821 0.052292"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="thumb_link0" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.297"
+      upper="0.683"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_link1">
+    <inertial>
+      <origin
+        xyz="-0.00106504889667033 -0.012927050674077 0.00955894076219203"
+        rpy="0 0 0" />
+      <mass
+        value="0.00188075940671965" />
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+        ixx="3.40676510335949E-07"
+        ixy="1.35509929341513E-08"
+        ixz="-5.69505648876837E-09"
+        iyy="1.02091139582549E-07"
+        iyz="7.17417344337338E-08"
+        izz="2.66867138572437E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_joint1"
+    type="revolute">
+    <origin
+      xyz="0.024508 -0.00083332 -0.00845"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_link0" />
+    <child
+      link="thumb_link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0.122"
+      upper="1.78"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_link2">
+    <inertial>
+      <origin
+        xyz="-0.0106242248600186 -0.0208033821034288 0.016157542171647"
+        rpy="0 0 0" />
+      <mass
+        value="0.0205071145290538" />
+      <inertia
+        ixx="8.50741595986471E-06"
+        ixy="5.13839853450391E-08"
+        ixz="-9.48916013077135E-09"
+        iyy="3.61783039629938E-06"
+        iyz="2.69972846254833E-06"
+        izz="5.82101723613586E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_joint2"
+    type="revolute">
+    <origin
+      xyz="0.010985 -0.030795 0.012414"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_link1" />
+    <child
+      link="thumb_link2" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="0"
+      upper="0.87"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_link3">
+    <inertial>
+      <origin
+        xyz="-0.0093736734679329 -0.0118164751838698 0.00400538635570426"
+        rpy="0 0 0" />
+      <mass
+        value="0.00483280693949485" />
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+        ixx="6.14077937948021E-07"
+        ixy="4.41097239264613E-09"
+        ixz="-3.5736559143174E-09"
+        iyy="3.38252728462671E-07"
+        iyz="1.33218100240235E-07"
+        izz="3.26769226661329E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.0010999 -0.044701 0.034112"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_link2" />
+    <child
+      link="thumb_link3" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="0"
+      upper="1.29"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_link4">
+    <inertial>
+      <origin
+        xyz="0.0030560377626466 -0.0105400390647686 0.00593674130309291"
+        rpy="0 0 0" />
+      <mass
+        value="0.00657025745665106" />
+      <inertia
+        ixx="5.93984229624015E-07"
+        ixy="8.88862926035374E-10"
+        ixz="-6.67254732405914E-10"
+        iyy="1.85296598190338E-07"
+        iyz="8.54877543904726E-08"
+        izz="5.0682843415754E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_joint4"
+    type="revolute">
+    <origin
+      xyz="-0.01277 -0.030981 0.015322"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_link3" />
+    <child
+      link="thumb_link4" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="0"
+      upper="1.29"
+      effort="100"
+      velocity="1" />
+    <mimic joint="thumb_joint3" multiplier="1" offset="0"/>
+  </joint>
+  <link
+    name="thumb_link5">
+    <inertial>
+      <origin
+        xyz="-0.000999999999998228 -1.88237025966487E-09 -7.70605801392321E-13"
+        rpy="0 0 0" />
+      <mass
+        value="1.5707963267949E-06" />
+      <inertia
+        ixx="1.96349540850869E-13"
+        ixy="-8.00805494173519E-19"
+        ixz="-3.2783414214898E-22"
+        iyy="6.21773546021472E-13"
+        iyz="-6.17105257037281E-28"
+        izz="6.21773546022979E-13" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_joint5"
+    type="fixed">
+    <origin
+      xyz="0.0040254 -0.030887 0.0073227"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_link4" />
+    <child
+      link="thumb_link5" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="index_link0">
+    <inertial>
+      <origin
+        xyz="0.00582427470614546 5.50368080415309E-07 0.00224749650949407"
+        rpy="0 0 0" />
+      <mass
+        value="0.000858838601128305" />
+      <inertia
+        ixx="3.48992698299602E-08"
+        ixy="-1.40954856587417E-13"
+        ixz="-4.85001741303822E-09"
+        iyy="2.50587256484778E-08"
+        iyz="-6.27354470289264E-14"
+        izz="4.06384245060269E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_joint0"
+    type="revolute">
+    <origin
+      xyz="-0.025865 -0.026698 0.15421"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="index_link0" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.26"
+      upper="0.26"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_link1">
+    <inertial>
+      <origin
+        xyz="-0.000683355914575133 0.00480779595160377 0.0243017678581129"
+        rpy="0 0 0" />
+      <mass
+        value="0.00458483524788528" />
+      <inertia
+        ixx="7.10362351117315E-07"
+        ixy="9.32232025827648E-12"
+        ixz="9.3530763161132E-09"
+        iyy="7.2026634008211E-07"
+        iyz="1.54252194254467E-10"
+        izz="1.38653484523034E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_joint1"
+    type="revolute">
+    <origin
+      xyz="0.011115 -0.0047959 0"
+      rpy="0 0 0" />
+    <parent
+      link="index_link0" />
+    <child
+      link="index_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_link2">
+    <inertial>
+      <origin
+        xyz="0.00281619330244812 0.00381383184692347 0.0165996182183856"
+        rpy="0 0 0" />
+      <mass
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+        ixx="2.38084076321758E-07"
+        ixy="-7.16794249475409E-12"
+        ixz="-1.15502254761236E-08"
+        iyy="1.83480042446789E-07"
+        iyz="5.62453391231342E-12"
+        izz="9.81871447808043E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_joint2"
+    type="revolute">
+    <origin
+      xyz="-0.0034454 0.0010465 0.044883"
+      rpy="0 0 0" />
+    <parent
+      link="index_link1" />
+    <child
+      link="index_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_link3">
+    <inertial>
+      <origin
+        xyz="-0.00677506648331382 0.00520857447698495 0.00971673970841427"
+        rpy="0 0 0" />
+      <mass
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+        ixx="2.41702010826938E-07"
+        ixy="-5.73074148827138E-12"
+        ixz="3.31881653745547E-08"
+        iyy="2.43605815950697E-07"
+        iyz="3.73346320200855E-12"
+        izz="1.21622579392247E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_joint3"
+    type="revolute">
+    <origin
+      xyz="0.0084126 -0.0012 0.03069"
+      rpy="0 0 0" />
+    <parent
+      link="index_link2" />
+    <child
+      link="index_link3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
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+      effort="100"
+      velocity="1" />
+    <mimic joint="index_joint2" multiplier="1.06399" offset="0"/>
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+  <link
+    name="index_link4">
+    <inertial>
+      <origin
+        xyz="1.88221978281167E-09 -0.000999999999998197 -1.53765888910584E-14"
+        rpy="0 0 0" />
+      <mass
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+        ixy="8.00741478540678E-19"
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+        iyz="-6.52465148254322E-24"
+        izz="6.21773546022976E-13" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_joint4"
+    type="fixed">
+    <origin
+      xyz="-0.013709 0.0063957 0.024981"
+      rpy="0 0 0" />
+    <parent
+      link="index_link3" />
+    <child
+      link="index_link4" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="middle_link0">
+    <inertial>
+      <origin
+        xyz="0.00582427468937505 5.60656395559578E-07 0.00224749643439595"
+        rpy="0 0 0" />
+      <mass
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+        ixz="-4.85001786500724E-09"
+        iyy="2.50587259127697E-08"
+        iyz="-7.65837062795531E-14"
+        izz="4.06384246311439E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_joint0"
+    type="revolute">
+    <origin
+      xyz="-0.030599 -0.0050984 0.1587"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="middle_link0" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.26"
+      upper="0.26"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_link1">
+    <inertial>
+      <origin
+        xyz="-0.000683357717291517 0.00480779481168012 0.024301773306106"
+        rpy="0 0 0" />
+      <mass
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+        ixx="7.10362846233519E-07"
+        ixy="9.34572253105422E-12"
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+        iyy="7.20266830372008E-07"
+        iyz="1.54168199233612E-10"
+        izz="1.38653515053436E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_joint1"
+    type="revolute">
+    <origin
+      xyz="0.011115 -0.0047959 0"
+      rpy="0 0 0" />
+    <parent
+      link="middle_link0" />
+    <child
+      link="middle_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_link2">
+    <inertial>
+      <origin
+        xyz="0.00281619330244477 0.00381383184691594 0.0165996182183642"
+        rpy="0 0 0" />
+      <mass
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+        iyy="1.83480041888284E-07"
+        iyz="5.6245336012395E-12"
+        izz="9.8187144844173E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_joint2"
+    type="revolute">
+    <origin
+      xyz="-0.0034454 0.0010465 0.044883"
+      rpy="0 0 0" />
+    <parent
+      link="middle_link1" />
+    <child
+      link="middle_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_link3">
+    <inertial>
+      <origin
+        xyz="-0.00677506745733072 0.00520857432498567 0.00971674194247016"
+        rpy="0 0 0" />
+      <mass
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+        iyz="3.72267732360627E-12"
+        izz="1.21622592125025E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_joint3"
+    type="revolute">
+    <origin
+      xyz="0.0084126 -0.0012 0.03069"
+      rpy="0 0 0" />
+    <parent
+      link="middle_link2" />
+    <child
+      link="middle_link3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.15"
+      effort="100"
+      velocity="1" />
+    <mimic joint="middle_joint2" multiplier="1.06399" offset="0"/>
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+  <link
+    name="middle_link4">
+    <inertial>
+      <origin
+        xyz="1.88221978281167E-09 -0.000999999999998197 -1.53765888910584E-14"
+        rpy="0 0 0" />
+      <mass
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+        ixx="6.21773546021469E-13"
+        ixy="8.00741478610988E-19"
+        ixz="1.2282340926068E-29"
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+        iyz="-6.52548378122148E-24"
+        izz="6.21773546022976E-13" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_joint4"
+    type="fixed">
+    <origin
+      xyz="-0.013709 0.0063957 0.024981"
+      rpy="0 0 0" />
+    <parent
+      link="middle_link3" />
+    <child
+      link="middle_link4" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="ring_link0">
+    <inertial>
+      <origin
+        xyz="0.00582427468937507 5.60656395504067E-07 0.00224749643439601"
+        rpy="0 0 0" />
+      <mass
+        value="0.000858838603161936" />
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+        ixx="3.48992700253911E-08"
+        ixy="-1.21073498738629E-13"
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+        iyz="-7.65837063803544E-14"
+        izz="4.0638424631144E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_joint0"
+    type="revolute">
+    <origin
+      xyz="-0.028294 0.016502 0.15421"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="ring_link0" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.26"
+      upper="0.26"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_link1">
+    <inertial>
+      <origin
+        xyz="-0.000683358318393827 0.0048077950536014 0.0243017723141481"
+        rpy="0 0 0" />
+      <mass
+        value="0.00458483722148334" />
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+        ixx="7.10362743671974E-07"
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+        ixz="9.35323619268588E-09"
+        iyy="7.20266705889107E-07"
+        iyz="1.54175118399794E-10"
+        izz="1.38653492039942E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_joint1"
+    type="revolute">
+    <origin
+      xyz="0.011115 -0.0047959 0"
+      rpy="0 0 0" />
+    <parent
+      link="ring_link0" />
+    <child
+      link="ring_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_link2">
+    <inertial>
+      <origin
+        xyz="0.00281619330245143 0.00381383184692152 0.0165996182184017"
+        rpy="0 0 0" />
+      <mass
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+        iyz="5.62453383813714E-12"
+        izz="9.81871447040778E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_joint2"
+    type="revolute">
+    <origin
+      xyz="-0.0034454 0.0010465 0.044883"
+      rpy="0 0 0" />
+    <parent
+      link="ring_link1" />
+    <child
+      link="ring_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_link3">
+    <inertial>
+      <origin
+        xyz="-0.00677505902660809 0.00520857164246757 0.00971671903636773"
+        rpy="0 0 0" />
+      <mass
+        value="0.00356224087432475" />
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+        iyy="2.43606043401954E-07"
+        iyz="3.64382773947614E-12"
+        izz="1.21622656355832E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_joint3"
+    type="revolute">
+    <origin
+      xyz="0.0084126 -0.0012 0.03069"
+      rpy="0 0 0" />
+    <parent
+      link="ring_link2" />
+    <child
+      link="ring_link3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.15"
+      effort="100"
+      velocity="1" />
+    <mimic joint="ring_joint2" multiplier="1.06399" offset="0"/>
+  </joint>
+  <link
+    name="ring_link4">
+    <inertial>
+      <origin
+        xyz="1.88221977934222E-09 -0.000999999999998225 -1.53765888910584E-14"
+        rpy="0 0 0" />
+      <mass
+        value="1.57079632679489E-06" />
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+        ixx="6.21773546021469E-13"
+        ixy="8.00741478549953E-19"
+        ixz="1.22804709224714E-29"
+        iyy="1.96349540850869E-13"
+        iyz="-6.52449275411388E-24"
+        izz="6.21773546022976E-13" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_joint4"
+    type="fixed">
+    <origin
+      xyz="-0.013709 0.0063957 0.024981"
+      rpy="0 0 0" />
+    <parent
+      link="ring_link3" />
+    <child
+      link="ring_link4" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="little_link0">
+    <inertial>
+      <origin
+        xyz="0.00582427470510147 5.60667605370435E-07 0.00224749650965381"
+        rpy="0 0 0" />
+      <mass
+        value="0.000858838601128306" />
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+        ixx="3.48992698304468E-08"
+        ixy="-1.21006307549431E-13"
+        ixz="-4.85001741294204E-09"
+        iyy="2.50587256480258E-08"
+        iyz="-7.64517074797356E-14"
+        izz="4.06384245059924E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link0.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link0.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="little_joint0"
+    type="revolute">
+    <origin
+      xyz="-0.02467 0.038102 0.14521"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="little_link0" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.26"
+      upper="0.26"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="little_link1">
+    <inertial>
+      <origin
+        xyz="-0.000683358318394525 0.00480779505361396 0.0243017723141432"
+        rpy="0 0 0" />
+      <mass
+        value="0.00458483722148321" />
+      <inertia
+        ixx="7.10362743708158E-07"
+        ixy="9.34947196941945E-12"
+        ixz="9.35323595443093E-09"
+        iyy="7.20266710581344E-07"
+        iyz="1.54175118354606E-10"
+        izz="1.3865349669603E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="little_joint1"
+    type="revolute">
+    <origin
+      xyz="0.011115 -0.0047959 0"
+      rpy="0 0 0" />
+    <parent
+      link="little_link0" />
+    <child
+      link="little_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="little_link2">
+    <inertial>
+      <origin
+        xyz="0.00281619330244208 0.00381383184691882 0.0165996182183428"
+        rpy="0 0 0" />
+      <mass
+        value="0.00240942424544181" />
+      <inertia
+        ixx="2.3808407526343E-07"
+        ixy="-7.16794250733563E-12"
+        ixz="-1.1550225067878E-08"
+        iyy="1.83480041333043E-07"
+        iyz="5.62453376024316E-12"
+        izz="9.81871447257061E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="little_joint2"
+    type="revolute">
+    <origin
+      xyz="-0.0034454 0.0010465 0.044883"
+      rpy="0 0 0" />
+    <parent
+      link="little_link1" />
+    <child
+      link="little_link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="little_link3">
+    <inertial>
+      <origin
+        xyz="-0.00677506040423783 0.00520857144001198 0.00971672722898123"
+        rpy="0 0 0" />
+      <mass
+        value="0.00356224402551602" />
+      <inertia
+        ixx="2.41702539339338E-07"
+        ixy="-5.71262968317265E-12"
+        ixz="3.31883161328461E-08"
+        iyy="2.4360638310237E-07"
+        iyz="3.64198152666006E-12"
+        izz="1.21622671153383E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="little_joint3"
+    type="revolute">
+    <origin
+      xyz="0.0084126 -0.0012 0.03069"
+      rpy="0 0 0" />
+    <parent
+      link="little_link2" />
+    <child
+      link="little_link3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.15"
+      effort="100"
+      velocity="1" />
+    <mimic joint="little_joint2" multiplier="1.06399" offset="0"/>
+  </joint>
+  <link
+    name="little_link4">
+    <inertial>
+      <origin
+        xyz="1.88221978281167E-09 -0.000999999999998211 -1.53488333154428E-14"
+        rpy="0 0 0" />
+      <mass
+        value="1.57079632679489E-06" />
+      <inertia
+        ixx="6.21773546021469E-13"
+        ixy="8.00741478549952E-19"
+        ixz="1.22814444842727E-29"
+        iyy="1.96349540850869E-13"
+        iyz="-6.5249857565379E-24"
+        izz="6.21773546022976E-13" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/little_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="little_joint4"
+    type="fixed">
+    <origin
+      xyz="-0.013709 0.0063957 0.024981"
+      rpy="0 0 0" />
+    <parent
+      link="little_link3" />
+    <child
+      link="little_link4" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/base_link.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/index_link2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/index_link2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/little_link0.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/little_link0.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/thumb_link0.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/thumb_link0.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/thumb_link3.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/thumb_link3.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/thumb_link4.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/thumb_link4.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/thumb_link5.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_left/meshes/thumb_link5.STL
new file mode 100644
index 0000000..58b8cf1
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/linkerhand_l20_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/linkerhand_l20_right.urdf
new file mode 100644
index 0000000..69f3552
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/linkerhand_l20_right.urdf
@@ -0,0 +1,1285 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_l20_right.urdf">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.000441885047026747 0.00500849972399617 0.0573919533012254"
+        rpy="0 0 0" />
+      <mass
+        value="2.91817267018669E-05" />
+      <inertia
+        ixx="1.51306260584639E-11"
+        ixy="2.65772325611336E-21"
+        ixz="1.20313450442092E-16"
+        iyy="2.22812296859512E-10"
+        iyz="-4.56163949104085E-15"
+        izz="2.22792879892319E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0229535763476013 0.000832788697536835 -0.0013198199434825"
+        rpy="0 0 0" />
+      <mass
+        value="0.000117519863807651" />
+      <inertia
+        ixx="2.36022486140104E-09"
+        ixy="3.03248382970144E-13"
+        ixz="-6.18340736069727E-12"
+        iyy="2.35568711016501E-09"
+        iyz="4.61881186600495E-13"
+        izz="1.48861157996815E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="0.000673424792196536 0.00500849972399572 0.0573919534353699"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="0.999999999999929 0 0" />
+    <limit
+      lower="-0.8"
+      upper="0.5"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.000231570160724059 0.0745658286975114 0.0553790725054494"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363141672E-06"
+        ixy="1.13403105282533E-07"
+        ixz="-2.91010442811516E-08"
+        iyy="1.34551273815639E-06"
+        iyz="5.67369748967897E-07"
+        izz="1.54771605564477E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.0229415604675387 0.000833353787679902 0"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.0034281344806788 0.000316261040417279 0.0674362259842037"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.00707953925106E-06"
+        ixy="-1.02470756673672E-07"
+        ixz="-1.34196876876637E-07"
+        iyy="2.4614236313789E-06"
+        iyz="5.66293125829818E-08"
+        izz="8.86149254587927E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="-8.46909131121537E-05 0.0307945044068651 0.00396440678804784"
+      rpy="0 -0.756062553947979 -1.570796326182" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000627827255459873 0.000316261037763749 0.0113528676590863"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.00707953925106E-06"
+        ixy="-1.02470756673672E-07"
+        ixz="-1.34196876876637E-07"
+        iyy="2.4614236313789E-06"
+        iyz="5.66293125829818E-08"
+        izz="8.86149254587927E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0040559617361387 0 0.0560833583251174"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.2"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00723058765258039 0.000316261034811652 -0.0230184194160739"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.00707953925106E-06"
+        ixy="-1.02470756673672E-07"
+        ixz="-1.34196876876637E-07"
+        iyy="2.4614236313789E-06"
+        iyz="5.66293125829817E-08"
+        izz="8.86149254587927E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="0.00660276039712052 0 0.0343712870751602"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.2"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_mcp"
+      multiplier="0.8079"
+      offset="0" />
+  </joint>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.0369695317509838 0.0537829394916592 -0.0465404514522212"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363142307E-06"
+        ixy="1.13403105251931E-07"
+        ixz="-2.91010442940731E-08"
+        iyy="1.34551273818186E-06"
+        iyz="5.67369748972777E-07"
+        izz="1.54771605561295E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0131230356952281 0.0266247663700636 0.159311466218564"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="0.03697 0.053783 -0.04654"
+        rpy="0 0 0" />
+      <mass
+        value="0.0058347" />
+      <inertia
+        ixx="2.4614E-06"
+        ixy="1.134E-07"
+        ixz="-2.9101E-08"
+        iyy="1.3455E-06"
+        iyz="5.6737E-07"
+        izz="1.5477E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.33"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="0.041164173730248 0.0538329394860146 -0.0913598786448275"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363142312E-06"
+        ixy="1.13403105250885E-07"
+        ixz="-2.9101044297371E-08"
+        iyy="1.34551273814998E-06"
+        iyz="5.67369748967099E-07"
+        izz="1.54771605564478E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00419464197927529 -4.99999969099107E-05 0.0448194271910961"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.77"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="0.0109846494992161 0.0538329394780222 -0.128447741754705"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.43123631172989E-06"
+        ixy="2.33010515596331E-07"
+        ixz="1.65885440042901E-07"
+        iyy="1.34551273803883E-06"
+        iyz="5.2959871214542E-07"
+        izz="1.57790337544917E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="0.00275625762572076 0 0.0317023692875254"
+      rpy="0 -0.217210944617023 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_pip"
+      multiplier="1.3898"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.0417033715062215 0.0753829394928262 -0.0510333406112854"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.461423631436E-06"
+        ixy="1.13403105187538E-07"
+        ixz="-2.91010443295791E-08"
+        iyy="1.34551273813711E-06"
+        iyz="5.67369748965446E-07"
+        izz="1.54771605564478E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0178568780584143 0.00502476703162374 0.163804355813813"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="middle_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.0417033715062215 0.0753829394928262 -0.0510333406112854"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.461423631436E-06"
+        ixy="1.13403105187538E-07"
+        ixz="-2.91010443295791E-08"
+        iyy="1.34551273813711E-06"
+        iyz="5.67369748965447E-07"
+        izz="1.54771605564478E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="middle_metacarpals" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.33"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="0.0458980134878245 0.0753832822205319 -0.0958527677923309"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363142333E-06"
+        ixy="1.13403105249966E-07"
+        ixz="-2.91010442974085E-08"
+        iyy="1.34551273815471E-06"
+        iyz="5.67369748967952E-07"
+        izz="1.54771605563984E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946419773943 0 0.0448194271813739"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.77"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="0.0431417565588561 0.0753832822259055 -0.127555137608497"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363142792E-06"
+        ixy="1.13403105228423E-07"
+        ixz="-2.91010443049728E-08"
+        iyy="1.34551273818913E-06"
+        iyz="5.67369748974314E-07"
+        izz="1.54771605560084E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="0.00275625692744558 0 0.0317023698187573"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_pip"
+      multiplier="1.3898"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.0393985433026026 0.096982939491904 -0.0465404503544546"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363142328E-06"
+        ixy="1.13403105251025E-07"
+        ixz="-2.9101044294104E-08"
+        iyy="1.34551273818659E-06"
+        iyz="5.67369748973631E-07"
+        izz="1.54771605560801E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0155520472481466 -0.0165752336298738 0.159311470075819"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.0393985433026026 0.096982939491904 -0.0465404503544546"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363142328E-06"
+        ixy="1.13403105251025E-07"
+        ixz="-2.9101044294104E-08"
+        iyy="1.34551273818659E-06"
+        iyz="5.67369748973631E-07"
+        izz="1.54771605560801E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.33"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="0.0435931852745398 0.0969832822226263 -0.0913598775387995"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363143605E-06"
+        ixy="1.13403105187344E-07"
+        ixz="-2.91010443295023E-08"
+        iyy="1.34551273813907E-06"
+        iyz="5.67369748965799E-07"
+        izz="1.54771605564277E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00419464197739421 0 0.044819427181374"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.77"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="0.0408369283505707 0.0969832822255912 -0.123062247353973"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363142792E-06"
+        ixy="1.13403105228423E-07"
+        ixz="-2.91010443049728E-08"
+        iyy="1.34551273818913E-06"
+        iyz="5.67369748974314E-07"
+        izz="1.54771605560084E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="0.00275625692744577 0 0.0317023698187571"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_pip"
+      multiplier="1.3898"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.0357747782390721 0.1185829394934 -0.0375417245830277"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.461423631436E-06"
+        ixy="1.13403105188406E-07"
+        ixz="-2.91010443261962E-08"
+        iyy="1.34551273817096E-06"
+        iyz="5.67369748971479E-07"
+        izz="1.54771605561093E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0119282769782894 -0.0381752349548123 0.150312749584634"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.0357747782390721 0.1185829394934 -0.0375417245830277"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.461423631436E-06"
+        ixy="1.13403105188406E-07"
+        ixz="-2.91010443261962E-08"
+        iyy="1.34551273817096E-06"
+        iyz="5.67369748971479E-07"
+        izz="1.54771605561093E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.33"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="0.0399694202164405 0.118583282222286 -0.0823611517776266"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.46142363143605E-06"
+        ixy="1.13403105187344E-07"
+        ixz="-2.91010443295023E-08"
+        iyy="1.34551273813907E-06"
+        iyz="5.67369748965799E-07"
+        izz="1.54771605564277E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00419464197739449 0 0.0448194271912721"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.77"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.0117572575484302 0.118583282224451 -0.119402987296551"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583469729849543" />
+      <inertia
+        ixx="2.43123630861852E-06"
+        ixy="2.33010520569583E-07"
+        ixz="1.65885448022839E-07"
+        iyy="1.34551273818384E-06"
+        iyz="5.29598709996232E-07"
+        izz="1.57790337841553E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="0.00275625692744577 0 0.0317023698187571"
+      rpy="0 -0.217210953895726 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_pip"
+      multiplier="1.3898"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/base_link.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link0.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link0.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link3.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link3.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link4.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_link4.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_metacarpals.STL
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index 0000000..ebcbac7
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/index_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/little_link0.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/little_link0.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_link1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_link1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_link2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_link2.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_link3.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_link3.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/middle_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/pinky_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l20_right/meshes/thumb_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/linkerhand_l21_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/linkerhand_l21_left.urdf
new file mode 100644
index 0000000..49b7b7e
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/linkerhand_l21_left.urdf
@@ -0,0 +1,1033 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_l21_left">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="0.027711 0.0087195 0.076284"
+        rpy="0 0 0" />
+      <mass
+        value="1.5785E-07" />
+      <inertia
+        ixx="4.2149E-15"
+        ixy="2.3826E-15"
+        ixz="7.6961E-16"
+        iyy="5.6185E-14"
+        iyz="-8.7449E-16"
+        izz="5.3828E-14" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.0053256 0.0026647 -0.015279"
+        rpy="0 0 0" />
+      <mass
+        value="0.00041989" />
+      <inertia
+        ixx="1.2323E-08"
+        ixy="-1.6725E-11"
+        ixz="4.7753E-10"
+        iyy="5.5651E-09"
+        iyz="7.8846E-11"
+        izz="7.5215E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0059834 -0.032908 0.13338"
+      rpy="-0.0056645 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="0.00827300262446084 0.0206946536676659 -0.0594111984214959"
+        rpy="0 0 0" />
+      <mass
+        value="0.00310189617600549" />
+      <inertia
+        ixx="6.94827809852598E-06"
+        ixy="-7.30360932101661E-07"
+        ixz="-3.50357323679268E-07"
+        iyy="3.62827463376843E-06"
+        iyz="1.32196221507174E-06"
+        izz="4.38448341497944E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.002358 -0.00022359 0.018075"
+      rpy="0 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="0.0084310026295624 0.0206979632977038 -0.103411198516156"
+        rpy="0 0 0" />
+      <mass
+        value="0.00310189617600549" />
+      <inertia
+        ixx="6.94827809845368E-06"
+        ixy="-7.303609322448E-07"
+        ixz="-3.50357323896878E-07"
+        iyy="3.62827463378371E-06"
+        iyz="1.32196221500947E-06"
+        izz="4.38448341503647E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.000158 0 0.044"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00809602648732219 0.000967328077867452 -0.0158492205753797"
+        rpy="0 0 0" />
+      <mass
+        value="0.000489979599946496" />
+      <inertia
+        ixx="1.70467250478746E-08"
+        ixy="-2.49125202430984E-11"
+        ixz="4.77383630918998E-10"
+        iyy="6.25256440139051E-09"
+        iyz="-7.03912454501969E-11"
+        izz="1.16457113735344E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0059834 -0.010766 0.14075"
+      rpy="-0.0056645 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.00827258573746481 -0.00140534633098602 -0.0669111984292696"
+        rpy="0 0 0" />
+      <mass
+        value="0.00310189617600549" />
+      <inertia
+        ixx="6.94827809852754E-06"
+        ixy="-7.30360932098109E-07"
+        ixz="-3.50357323677855E-07"
+        iyy="3.62827463376687E-06"
+        iyz="1.32196221507212E-06"
+        izz="4.38448341497944E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0023586 -0.0002236 0.018075"
+      rpy="0 0 0" />
+    <parent
+      link="middle_metacarpals" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="0.00782855721567354 -0.00141464740089148 -0.110909241690445"
+        rpy="0 0 0" />
+      <mass
+        value="0.00310189617600549" />
+      <inertia
+        ixx="6.94827809845522E-06"
+        ixy="-7.30360932241238E-07"
+        ixz="-3.50357323895577E-07"
+        iyy="3.62827463378255E-06"
+        iyz="1.32196221500995E-06"
+        izz="4.38448341503608E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="0.00044403 0 0.043998"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00568290695019562 0.00100546703192139 -0.0157134930728382"
+        rpy="0 0 0" />
+      <mass
+        value="0.000471375650794161" />
+      <inertia
+        ixx="1.63734413760856E-08"
+        ixy="-2.48713921673637E-11"
+        ixz="4.77563154016997E-10"
+        iyy="6.04018250418069E-09"
+        iyz="-7.04143076046795E-11"
+        izz="1.11386555110261E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0059834 0.010791 0.13313"
+      rpy="-0.0056645 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.00827216885200012 -0.0230051873236801 -0.0594111923224606"
+        rpy="0 0 0" />
+      <mass
+        value="0.00310189617600549" />
+      <inertia
+        ixx="6.94827809852909E-06"
+        ixy="-7.30360932087472E-07"
+        ixz="-3.5035732369126E-07"
+        iyy="3.62827463381894E-06"
+        iyz="1.32196221508782E-06"
+        izz="4.38448341492582E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0023592 -0.0002236 0.018075"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="0.00843016885556375 -0.0230018776948784 -0.103411192401526"
+        rpy="0 0 0" />
+      <mass
+        value="0.00310189617600549" />
+      <inertia
+        ixx="6.94827809845368E-06"
+        ixy="-7.30360932244799E-07"
+        ixz="-3.50357323896877E-07"
+        iyy="3.62827463378371E-06"
+        iyz="1.32196221500947E-06"
+        izz="4.38448341503647E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.000158 0 0.044"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00770791352923251 -0.000457498596015515 -0.0154299306024431"
+        rpy="0 0 0" />
+      <mass
+        value="0.000436259943198178" />
+      <inertia
+        ixx="1.28165947659315E-08"
+        ixy="-3.35211054873818E-11"
+        ixz="4.77347680805677E-10"
+        iyy="5.75479262594543E-09"
+        iyz="-2.2806555796648E-10"
+        izz="7.86609440553176E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0059834 0.032806 0.11807"
+      rpy="-0.0056645 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.00827175196559392 -0.0451053470230371 -0.0444732534937471"
+        rpy="0 0 0" />
+      <mass
+        value="0.00310189617600549" />
+      <inertia
+        ixx="6.94827809852754E-06"
+        ixy="-7.30360932090995E-07"
+        ixz="-3.50357323692668E-07"
+        iyy="3.6282746338205E-06"
+        iyz="1.32196221508746E-06"
+        izz="4.3844834149258E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0023598 -0.0002236 0.018075"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="0.00842975196858262 -0.0451020373939276 -0.0884732535762509"
+        rpy="0 0 0" />
+      <mass
+        value="0.00310189617600549" />
+      <inertia
+        ixx="6.94827809845368E-06"
+        ixy="-7.30360932244799E-07"
+        ixz="-3.50357323896877E-07"
+        iyy="3.62827463378371E-06"
+        iyz="1.32196221500947E-06"
+        izz="4.38448341503647E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.000158 0 0.044"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="-0.00825004343050429 0.00549999923187541 -0.0318466649750455"
+        rpy="0 0 0" />
+      <mass
+        value="0.000312218028756713" />
+      <inertia
+        ixx="1.10352320577714E-08"
+        ixy="1.51530066694108E-15"
+        ixz="2.24883986234982E-17"
+        iyy="1.03390792483618E-09"
+        iyz="-9.75961461153178E-16"
+        izz="1.09679882723771E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="0.002384 -0.002009 0.071277"
+      rpy="-0.0056645 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.6"
+      upper="0.6"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.000318715623666761 -0.00718337748979808 0.00156863530629658"
+        rpy="0 0 0" />
+      <mass
+        value="0.000612301579502896" />
+      <inertia
+        ixx="1.22173338759595E-08"
+        ixy="-4.04328465962207E-10"
+        ixz="-7.85625856505701E-10"
+        iyy="2.54580972505203E-08"
+        iyz="-8.83243860874543E-11"
+        izz="1.4128984259509E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.02725 -0.008383 -0.0024"
+      rpy="0 0 0.00011487" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.6"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.0142748361598372 0.00532040432196624 0.00526552927499724"
+        rpy="0 0 0" />
+      <mass
+        value="8.32841435663313E-05" />
+      <inertia
+        ixx="8.35185788663659E-10"
+        ixy="-2.55411350654767E-15"
+        ixz="1.71799639980897E-13"
+        iyy="7.2277546470753E-10"
+        iyz="-2.53341629842261E-13"
+        izz="1.98745918720938E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0063626 -0.01451 0.0040125"
+      rpy="3.1416 -1.5438 -1.6" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.0184739779964296 -0.0002000000495994 0.0462329062867987"
+        rpy="0 0 0" />
+      <mass
+        value="0.000276348923230502" />
+      <inertia
+        ixx="1.87209908989575E-09"
+        ixy="-2.063629189239E-20"
+        ixz="1.07714355532501E-10"
+        iyy="1.86535523180589E-09"
+        iyz="3.29607314612381E-19"
+        izz="3.58579214390665E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="-0.0039464 0 0.034242"
+      rpy="0 0.026973 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0178854812171841 0.019727222652815 -0.0945726187383213"
+        rpy="0 0 0" />
+      <mass
+        value="0.00310189617600549" />
+      <inertia
+        ixx="4.69661957827236E-06"
+        ixy="2.83090317743629E-07"
+        ixz="-1.18320195426291E-06"
+        iyy="6.90308365393113E-06"
+        iyz="-8.67349614751342E-07"
+        izz="3.36133291507035E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.0056449 0 0.045952"
+      rpy="0 -0.12449 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..3c8a804
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/hand_base_link.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..dee80a8
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/index_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/index_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/middle_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/middle_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/middle_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/middle_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/pinky_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/pinky_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/pinky_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/ring_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/ring_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/ring_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/ring_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_left/meshes/thumb_proximal.STL
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index 0000000..6b7f4d1
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/linkerhand_l21_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/linkerhand_l21_right.urdf
new file mode 100644
index 0000000..f42dc99
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/linkerhand_l21_right.urdf
@@ -0,0 +1,1033 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_l21_right_urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00526243206257152 0.000224730005252721 0.0761181056976833"
+        rpy="0 0 0" />
+      <mass
+        value="0.0812763766010021" />
+      <inertia
+        ixx="0.000193545607403332"
+        ixy="-1.27468349640271E-08"
+        ixz="-5.85480429566988E-07"
+        iyy="0.000132083491187249"
+        iyz="5.11547728078672E-06"
+        izz="7.29694389135565E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.000174296161938329 -0.00266453028669161 -0.0152795577297675"
+        rpy="0 0 0" />
+      <mass
+        value="0.000419911645113729" />
+      <inertia
+        ixx="1.23234972111389E-08"
+        ixy="1.67156424186545E-11"
+        ixz="4.77513855667989E-10"
+        iyy="5.56516547380432E-09"
+        iyz="-7.92087974283453E-11"
+        izz="7.52218107764662E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0114834254522634 0.032907936497646 0.133378233122808"
+      rpy="0.00566453071771697 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="0.999999999971274 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.0188456623802717 -0.032877722329113 -0.0733084332967442"
+        rpy="0 0 0" />
+      <mass
+        value="0.083709650865222" />
+      <inertia
+        ixx="0.000204577214402106"
+        ixy="2.01576346839484E-06"
+        ixz="-1.35985330380557E-07"
+        iyy="0.000170308764387091"
+        iyz="4.4159686866193E-06"
+        izz="0.000108485301288309" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00314196475147223 0.000199976188793055 0.0180749331977774"
+      rpy="0 -0.0785815229629661 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.0186876623800227 -0.0328777223297189 -0.117308433391972"
+        rpy="0 0 0" />
+      <mass
+        value="0.083709650865222" />
+      <inertia
+        ixx="0.000204577214402059"
+        ixy="2.01576346879103E-06"
+        ixz="-1.3598533032842E-07"
+        iyy="0.000170308764387143"
+        iyz="4.41596868658384E-06"
+        izz="0.000108485301288303" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.000158000000628931 0 0.0440000000952079"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00259568041112656 -0.00096774686000764 -0.0158495994625299"
+        rpy="0 0 0" />
+      <mass
+        value="0.000490012982004635" />
+      <inertia
+        ixx="1.70487465856995E-08"
+        ixy="2.4840367120559E-11"
+        ixz="4.77351354791899E-10"
+        iyy="6.2526808547682E-09"
+        iyz="7.08158571631547E-11"
+        izz="1.16476184116781E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0114840098523855 0.0107658073090937 0.140752927340313"
+      rpy="0.00566453071771697 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_metacarpals" />
+    <axis
+      xyz="0.999999999971274 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.019435 -0.011001 -0.080785"
+        rpy="0 0 0" />
+      <mass
+        value="0.08371" />
+      <inertia
+        ixx="0.00020458"
+        ixy="2.0158E-06"
+        ixz="-1.3599E-07"
+        iyy="0.00017031"
+        iyz="4.416E-06"
+        izz="0.00010849" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00314196644862088 0.000423561853376581 0.0180749332117821"
+      rpy="0 -0.078581522962966 0" />
+    <parent
+      link="middle_metacarpals" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.0192768330335345 -0.0110046176251427 -0.124785256123881"
+        rpy="0 0 0" />
+      <mass
+        value="0.083709650865222" />
+      <inertia
+        ixx="0.000204577214402059"
+        ixy="2.01576346879105E-06"
+        ixz="-1.35985330328411E-07"
+        iyy="0.000170308764387143"
+        iyz="4.41596868658383E-06"
+        izz="0.000108485301288303" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.000157999999317671 0 0.0440000000810654"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.000183739021477546 -0.00100588136865329 -0.0157138720176672"
+        rpy="0 0 0" />
+      <mass
+        value="0.000471407737045741" />
+      <inertia
+        ixx="1.63753627130735E-08"
+        ixy="2.4805091709656E-11"
+        ixz="4.77534655270587E-10"
+        iyy="6.040298781693E-09"
+        iyz="7.08186484259115E-11"
+        izz="1.11404620961805E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0114828065489108 -0.01079120337128 0.133130689240496"
+      rpy="0.00566449433579413 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="0.999999999971274 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.0188464931004214 0.0105985330013436 -0.0733083617647259"
+        rpy="0 0 0" />
+      <mass
+        value="0.083709650865222" />
+      <inertia
+        ixx="0.000204577214402119"
+        ixy="2.01576346829073E-06"
+        ixz="-1.35985330312943E-07"
+        iyy="0.000170308764387437"
+        iyz="4.41596868411207E-06"
+        izz="0.000108485301287951" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00314018253610867 0.00042356120929779 0.0180749332271929"
+      rpy="0 -0.078581522962966 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.0186884931009475 0.0105952233687473 -0.117308361846214"
+        rpy="0 0 0" />
+      <mass
+        value="0.0837096508652219" />
+      <inertia
+        ixx="0.000204577214402059"
+        ixy="2.01576346879103E-06"
+        ixz="-1.35985330328387E-07"
+        iyy="0.000170308764387143"
+        iyz="4.41596868658384E-06"
+        izz="0.000108485301288303" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00015799999931737 0 0.0440000000810648"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.0022082154600251 0.000457541981198573 -0.0154295974589307"
+        rpy="0 0 0" />
+      <mass
+        value="0.000436240439002133" />
+      <inertia
+        ixx="1.28157628777268E-08"
+        ixy="3.3566175365384E-11"
+        ixz="4.77344050811202E-10"
+        iyy="5.75464638477999E-09"
+        iyz="2.27695207915993E-10"
+        izz="7.86537720925951E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.011482977852884 -0.0328063925464449 0.118067803706636"
+      rpy="0.00566453071771697 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="0.999999999971274 0 0" />
+    <limit
+      lower="-0.18"
+      upper="0.18"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.017674270439489 0.0326986926976347 -0.0584164877765561"
+        rpy="0 0 0" />
+      <mass
+        value="0.083709650865222" />
+      <inertia
+        ixx="0.000204577214402106"
+        ixy="2.01576346839457E-06"
+        ixz="-1.35985330380626E-07"
+        iyy="0.000170308764387091"
+        iyz="4.41596868662015E-06"
+        izz="0.000108485301288309" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00313976943770327 0.000423561870027511 0.0180749331996752"
+      rpy="0 -0.0785815229629661 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.0175162704396953 0.0326953830679269 -0.102416487869753"
+        rpy="0 0 0" />
+      <mass
+        value="0.083709650865222" />
+      <inertia
+        ixx="0.000204577214402059"
+        ixy="2.01576346879103E-06"
+        ixz="-1.35985330328392E-07"
+        iyy="0.000170308764387143"
+        iyz="4.41596868658384E-06"
+        izz="0.000108485301288304" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.000158 0 0.044"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="-0.00204999913094956 -0.00549999954049255 -0.0318466649740685"
+        rpy="0 0 0" />
+      <mass
+        value="0.000312218028788275" />
+      <inertia
+        ixx="1.10352090786937E-08"
+        ixy="-3.6520673475005E-14"
+        ixz="2.26223081170254E-17"
+        iyy="1.03379870986868E-09"
+        iyz="-9.39281500911384E-16"
+        izz="1.09678558043299E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0038161 0.002009 0.071277"
+      rpy="0.0056645 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.6"
+      upper="0.6"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="-0.0345428099330726 -0.00901369286548787 0.00283839487700822"
+        rpy="0 0 0" />
+      <mass
+        value="0.083709650865222" />
+      <inertia
+        ixx="0.00020386884487864"
+        ixy="2.43949778858575E-06"
+        ixz="-7.54675473247185E-06"
+        iyy="0.000170403697359672"
+        iyz="4.73643989793852E-06"
+        izz="0.000109098737839194" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.03345 0.008383 0.0026"
+      rpy="0 0 0.023144" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.6"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00394729652589071 0.00763192418769854 -0.0146443395538483"
+        rpy="0 0 0" />
+      <mass
+        value="8.32469425848183E-05" />
+      <inertia
+        ixx="2.02807932188066E-10"
+        ixy="1.18141043331397E-11"
+        ixz="-4.91901136642653E-11"
+        iyy="7.21576996330229E-10"
+        iyz="-1.12300434206794E-12"
+        izz="8.30443924918379E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0090013 0.014318 -0.00098753"
+      rpy="0 0 1.5477" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.0470197661665589 -0.000200000046975179 -0.0163679893611277"
+        rpy="0 0 0" />
+      <mass
+        value="0.000276348923230502" />
+      <inertia
+        ixx="3.592015089442E-09"
+        ixy="3.31639519662839E-19"
+        ixz="2.99906451619962E-11"
+        iyy="1.86535523180589E-09"
+        iyz="-5.76030241667959E-21"
+        izz="1.86587614436041E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.033763 0.0030005 -0.0066361"
+      rpy="0 0.078877 0.023144" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.104387452217272 0.0413258103012311 0.00122242102952422"
+        rpy="0 0 0" />
+      <mass
+        value="0.083709650865222" />
+      <inertia
+        ixx="0.000170355856295913"
+        ixy="-3.59798156530171E-06"
+        ixz="-5.03631497136779E-06"
+        iyy="0.000203868844879125"
+        iyz="7.0681811796392E-06"
+        izz="0.000109146578902468" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="0.04616 0 -0.0035646"
+      rpy="0 0.079326 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..9d1ea49
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..e0e4944
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/index_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/index_middle.STL
new file mode 100644
index 0000000..7d16604
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/index_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/index_proximal.STL
new file mode 100644
index 0000000..c001f27
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/middle_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/middle_metacarpals.STL
new file mode 100644
index 0000000..56cae1c
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/middle_middle.STL
new file mode 100644
index 0000000..9c22903
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/middle_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/middle_proximal.STL
new file mode 100644
index 0000000..534cff7
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/middle_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/pinky_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/pinky_metacarpals.STL
new file mode 100644
index 0000000..e78b9ca
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/pinky_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/pinky_middle.STL
new file mode 100644
index 0000000..05fb04f
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/pinky_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..992adda
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/pinky_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/ring_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/ring_metacarpals.STL
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index 0000000..96c1afa
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/ring_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/ring_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l21_right/meshes/thumb_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/linkerhand_l25_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/linkerhand_l25_left.urdf
new file mode 100644
index 0000000..9c0c1f1
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/linkerhand_l25_left.urdf
@@ -0,0 +1,1285 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_g20_left.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000986417037198788 0.000268049028294054 0.0773798470852122"
+        rpy="0 0 0" />
+      <mass
+        value="0.110373495507463" />
+      <inertia
+        ixx="0.000264402778830212"
+        ixy="4.59263483005334E-07"
+        ixz="1.32798258678817E-06"
+        iyy="0.000159680177760236"
+        iyz="-4.78660406501498E-06"
+        izz="0.000118075546031988" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0115155126192006 0.00398068846976699 0.000272888250745694"
+        rpy="0 0 0" />
+      <mass
+        value="0.0160351802817401" />
+      <inertia
+        ixx="4.043875385429E-06"
+        ixy="1.31113365770736E-07"
+        ixz="-7.54220071752833E-09"
+        iyy="2.42762975209742E-06"
+        iyz="-1.4815076502312E-07"
+        izz="2.08582778122043E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="0.01916 -0.01 0.0436"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00286714610220221 -0.0061572653424441 0.00472605265322379"
+        rpy="0 0 0" />
+      <mass
+        value="0.00183264554882498" />
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+        ixy="-4.9133152227129E-08"
+        ixz="-1.35746007921721E-08"
+        iyy="9.83742137915545E-08"
+        iyz="4.75450167610941E-08"
+        izz="1.80097560989649E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.019845 0 0"
+      rpy="0.77165 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00670657874489922 8.60758971228653E-05 0.0331412930049483"
+        rpy="0 0 0" />
+      <mass
+        value="0.0287160359417969" />
+      <inertia
+        ixx="1.13355944686632E-05"
+        ixy="-1.18725063259997E-08"
+        ixz="5.09011416528365E-08"
+        iyy="1.3528651001113E-05"
+        iyz="2.41236037965108E-08"
+        izz="3.37809997040935E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0088218 -0.024245 0.0005"
+      rpy="0 -1.0647 1.9199" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.84"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00268734410969529 0.000568244522388137 0.0118501723044777"
+        rpy="0 0 0" />
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+        value="0.00549015507433734" />
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+        ixy="4.56375652569348E-11"
+        ixz="5.41461160604729E-08"
+        iyy="6.23208954846975E-07"
+        iyz="5.1129105291147E-09"
+        izz="2.34934736039565E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0127018248047608 0 0.0627256157349894"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.26"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.000710021799050622 -0.00267575921172081 0.0124762660846746"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382046638843239" />
+      <inertia
+        ixx="2.12120816159448E-07"
+        ixy="-2.9588372102787E-09"
+        ixz="-7.35950751454791E-08"
+        iyy="2.67878295781821E-07"
+        iyz="6.04616706384983E-09"
+        izz="1.24571609570411E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00483652209209624 0 0.0342226492098615"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.29"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_mcp"
+      multiplier="1.02"
+      offset="0" />
+  </joint>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794299653637993 -2.93673969475883E-07 0.00220106027330236"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895516429792169" />
+      <inertia
+        ixx="3.46279728013563E-08"
+        ixy="-3.91962517308058E-13"
+        ixz="5.91029152662012E-09"
+        iyy="2.85435471088518E-08"
+        iyz="-5.30377507775974E-13"
+        izz="4.38102133125935E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 -0.03525 0.1481"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114185484694667 3.47315751996757E-05 0.0228928405204552"
+        rpy="0 0 0" />
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+        ixy="-1.07185172336921E-11"
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+        iyy="6.74195867168963E-07"
+        iyz="-1.59054321114837E-10"
+        izz="1.3575909170439E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206991936024691 2.60617060293677E-06 0.0167065328961797"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237827499847615" />
+      <inertia
+        ixx="2.2953872847051E-07"
+        ixy="2.23609392315326E-12"
+        ixz="-1.4734008024399E-08"
+        iyy="1.76761332719485E-07"
+        iyz="1.15917246584962E-11"
+        izz="9.62798051827835E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.74"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816246517948334 2.27058913663258E-05 0.00811806505013066"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334170259772608" />
+      <inertia
+        ixx="1.59570744991572E-07"
+        ixy="1.51458653099843E-10"
+        ixz="-5.9429168549018E-08"
+        iyy="1.78095631426193E-07"
+        iyz="-1.24842727205631E-10"
+        izz="1.34141383450165E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794299618184406 -2.93006659768391E-07 0.00220106329585604"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895516947435045" />
+      <inertia
+        ixx="3.46279958583857E-08"
+        ixy="-3.91785866285381E-13"
+        ixz="5.91029262290692E-09"
+        iyy="2.85435605322585E-08"
+        iyz="-5.27457529869591E-13"
+        izz="4.38102218629515E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.00379999999265848 -0.0117500000029305 0.1526"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114185484818909 3.47315748623067E-05 0.0228928405191574"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450921353536659" />
+      <inertia
+        ixx="6.6667308094129E-07"
+        ixy="-1.07185191777588E-11"
+        ixz="-2.53143396278864E-08"
+        iyy="6.74195867139795E-07"
+        iyz="-1.59054330697635E-10"
+        izz="1.3575909169764E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="middle_metacarpals" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206991893084203 2.60624978909441E-06 0.0167065331356697"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237827502274046" />
+      <inertia
+        ixx="2.29538732170979E-07"
+        ixy="2.23722006830829E-12"
+        ixz="-1.47340061868536E-08"
+        iyy="1.7676133625496E-07"
+        iyz="1.15938574397121E-11"
+        izz="9.62798057458164E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00419457745591796 0 0.0448194332262389"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.74"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816246584707385 2.27058557035753E-05 0.00811806604834034"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334170288968694" />
+      <inertia
+        ixx="1.59570753478215E-07"
+        ixy="1.51460233550071E-10"
+        ixz="-5.94291827952622E-08"
+        iyy="1.78095663702073E-07"
+        iyz="-1.24843061161549E-10"
+        izz="1.34141410190336E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794299637971868 -2.94513098575422E-07 0.00220106138372037"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895516612684195" />
+      <inertia
+        ixx="3.46279813761428E-08"
+        ixy="-3.92590701616938E-13"
+        ixz="5.91029201975386E-09"
+        iyy="2.854355219638E-08"
+        iyz="-5.34642787239736E-13"
+        izz="4.38102164225122E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.00379999999632174 0.0117499999970695 0.1481"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114185484356009 3.47315809493265E-05 0.0228928405060199"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450921353946778" />
+      <inertia
+        ixx="6.66673081759646E-07"
+        ixy="-1.07184694208142E-11"
+        ixz="-2.53143399406658E-08"
+        iyy="6.74195868060947E-07"
+        iyz="-1.59054446512071E-10"
+        izz="1.3575909184966E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00020699321531438 2.60746916563859E-06 0.0167065326651803"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237827433282015" />
+      <inertia
+        ixx="2.29538714144179E-07"
+        ixy="2.25259718797087E-12"
+        ixz="-1.47340121880382E-08"
+        iyy="1.76761312824203E-07"
+        iyz="1.15994674932479E-11"
+        izz="9.62797743780677E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00419457745591796 0 0.0448194332262389"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.74"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.0081624655153107 2.27057324615476E-05 0.00811806561376854"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334170280386792" />
+      <inertia
+        ixx="1.59570757957895E-07"
+        ixy="1.51461030930522E-10"
+        ixz="-5.94291750853635E-08"
+        iyy="1.78095650648522E-07"
+        iyz="-1.2484716714453E-10"
+        izz="1.34141394018405E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794299617469867 -2.9300686296696E-07 0.00220106329602079"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895516947513541" />
+      <inertia
+        ixx="3.46279958591138E-08"
+        ixy="-3.91785473098584E-13"
+        ixz="5.91029262259818E-09"
+        iyy="2.85435605328821E-08"
+        iyz="-5.27457876763101E-13"
+        izz="4.38102218637476E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.00379999999998499 0.0352499999970695 0.1436"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114185484350746 3.47315809787474E-05 0.0228928405060759"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450921353949741" />
+      <inertia
+        ixx="6.66673081761478E-07"
+        ixy="-1.07184692555283E-11"
+        ixz="-2.53143399404374E-08"
+        iyy="6.74195868062215E-07"
+        iyz="-1.59054445649156E-10"
+        izz="1.35759091850319E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206993248553502 2.60748984004522E-06 0.0167065326828462"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237827431921004" />
+      <inertia
+        ixx="2.29538713829186E-07"
+        ixy="2.25292379523651E-12"
+        ixz="-1.47340119230773E-08"
+        iyy="1.76761312133621E-07"
+        iyz="1.15993142153177E-11"
+        izz="9.62797736254209E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.74"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816246615274486 2.27054189396725E-05 0.00811806634481432"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334170283969146" />
+      <inertia
+        ixx="1.59570758932551E-07"
+        ixy="1.51458416419677E-10"
+        ixz="-5.94291815262966E-08"
+        iyy="1.7809566305509E-07"
+        iyz="-1.24846982879422E-10"
+        izz="1.34141398854287E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..706606c
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_distal.STL
new file mode 100644
index 0000000..281a53c
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..608b860
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_middle.STL
new file mode 100644
index 0000000..9f00fc4
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_proximal.STL
new file mode 100644
index 0000000..4a4473d
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/middle_distal.STL
new file mode 100644
index 0000000..37d5121
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/middle_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/middle_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/middle_metacarpals.STL
new file mode 100644
index 0000000..96674b1
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/middle_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/middle_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/pinky_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/pinky_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/pinky_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/pinky_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/pinky_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/ring_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/ring_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/ring_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_metacarpals_base2.STL
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index 0000000..cf5fced
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_left/meshes/thumb_proximal.STL
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index 0000000..b657d19
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/linkerhand_l25_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/linkerhand_l25_right.urdf
new file mode 100644
index 0000000..3d1b6cd
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/linkerhand_l25_right.urdf
@@ -0,0 +1,1285 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_L25NS_right.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0023553326597099 -0.000476950676809626 0.0840274681191193"
+        rpy="0 0 0" />
+      <mass
+        value="0.130043890829375" />
+      <inertia
+        ixx="0.000269869493590648"
+        ixy="-5.66836728555976E-07"
+        ixz="1.0791938448155E-06"
+        iyy="0.000164906210534713"
+        iyz="4.94586055862009E-06"
+        izz="0.000118834524369526" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0121300685642492 -0.00368626401900367 0.000253013805235423"
+        rpy="0 0 0" />
+      <mass
+        value="0.0173128324517923" />
+      <inertia
+        ixx="4.04974890264239E-06"
+        ixy="-1.31074266242452E-07"
+        ixz="-7.53905165403527E-09"
+        iyy="2.43513754798381E-06"
+        iyz="1.46366596393199E-07"
+        izz="2.09347392894973E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.749019607843137 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="0.01916 0.01 0.0436"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="1.39"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00274804892423072 0.00768600825377847 0.00362008971119372"
+        rpy="0 0 0" />
+      <mass
+        value="0.0129293097380942" />
+      <inertia
+        ixx="1.69966138188785E-06"
+        ixy="3.5029507180292E-07"
+        ixz="-1.32342776895603E-07"
+        iyy="7.14783352238004E-07"
+        iyz="-3.69293599975358E-07"
+        izz="1.38951684398117E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.749019607843137 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.019845 0 0"
+      rpy="-0.77165 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00680467489235993 -0.000348945978923473 0.0329029974283304"
+        rpy="0 0 0" />
+      <mass
+        value="0.0311449727019751" />
+      <inertia
+        ixx="1.14965619264847E-05"
+        ixy="-1.14093661337383E-08"
+        ixz="5.08562599330683E-08"
+        iyy="1.37913772817647E-05"
+        iyz="2.39355105126118E-08"
+        izz="3.56917509196916E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0088264 0.024243 0.0005"
+      rpy="0 -1.0647 -1.9199" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.83"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00268743345276515 0.000568290980153867 0.0118503606835096"
+        rpy="0 0 0" />
+      <mass
+        value="0.00549015851204037" />
+      <inertia
+        ixx="4.78349857032437E-07"
+        ixy="4.61712014179472E-11"
+        ixz="5.4113877466635E-08"
+        iyy="6.23171205283375E-07"
+        iyz="5.11556682719536E-09"
+        izz="2.34919130274949E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.012702 0 0.062726"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.25"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.000650482106033023 2.41300573138245E-05 0.0111942838051236"
+        rpy="0 0 0" />
+      <mass
+        value="0.00585464206993151" />
+      <inertia
+        ixx="3.37157269656711E-07"
+        ixy="3.69307135027908E-10"
+        ixz="-1.12308316041907E-07"
+        iyy="4.37703462647265E-07"
+        iyz="-9.3624675389561E-10"
+        izz="1.85639673847353E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.996078431372549 1 0.317647058823529 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.0048365 0 0.034223"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.29"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="thumb_mcp"
+      multiplier="1.03"
+      offset="0" />
+  </joint>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794297216778595 3.01910607593964E-07 0.00220112291424343"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895533942236676" />
+      <inertia
+        ixx="3.46286808249453E-08"
+        ixy="5.20721113539202E-13"
+        ixz="5.91055676999344E-09"
+        iyy="2.85439868980493E-08"
+        iyz="6.15915602928681E-13"
+        izz="4.38105935701441E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 0.03525 0.1481"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114165889805229 -3.47779025311364E-05 0.0228930740987338"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450935628154297" />
+      <inertia
+        ixx="6.66693338335738E-07"
+        ixy="1.00781853152623E-11"
+        ixz="-2.53156876802064E-08"
+        iyy="6.74214594716538E-07"
+        iyz="1.59197443844205E-10"
+        izz="1.3576088799113E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206830314670474 -2.69762827288106E-06 0.0167055565294545"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237861824163327" />
+      <inertia
+        ixx="2.29584431475404E-07"
+        ixy="-3.79527882007371E-12"
+        ixz="-1.47269516053005E-08"
+        iyy="1.76802239049368E-07"
+        iyz="3.59871792473524E-13"
+        izz="9.62875380319572E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.75"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816260402461631 -2.26721604493323E-05 0.00811819722869647"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334176238570705" />
+      <inertia
+        ixx="1.59568900399119E-07"
+        ixy="-1.52271643281661E-10"
+        ixz="-5.94266141046017E-08"
+        iyy="1.78096631602274E-07"
+        iyz="1.23981970768957E-10"
+        izz="1.34139906914153E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="index_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794297217144934 3.01910607571412E-07 0.00220112291424346"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895533942236672" />
+      <inertia
+        ixx="3.46286808249452E-08"
+        ixy="5.20721113361698E-13"
+        ixz="5.91055676999347E-09"
+        iyy="2.85439868980493E-08"
+        iyz="6.15915602825396E-13"
+        izz="4.3810593570144E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 0.01175 0.1526"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114165889805231 -3.47779025311071E-05 0.0228930740987338"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450935628154299" />
+      <inertia
+        ixx="6.66693338335741E-07"
+        ixy="1.00781853158879E-11"
+        ixz="-2.53156876802067E-08"
+        iyy="6.74214594716535E-07"
+        iyz="1.59197443844791E-10"
+        izz="1.35760887991121E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="middle_metacarpals" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206830311076763 -2.69763200638285E-06 0.0167055565392871"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237861824399121" />
+      <inertia
+        ixx="2.2958443176697E-07"
+        ixy="-3.79531728857531E-12"
+        ixz="-1.47269515025648E-08"
+        iyy="1.76802239346606E-07"
+        iyz="3.59776198217398E-13"
+        izz="9.62875381090068E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.75"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816260402458386 -2.26721612610642E-05 0.00811819722943347"
+        rpy="0 0 0" />
+      <mass
+        value="0.0033417623857295" />
+      <inertia
+        ixx="1.59568900407287E-07"
+        ixy="-1.52271672185911E-10"
+        ixz="-5.94266141070478E-08"
+        iyy="1.78096631550001E-07"
+        iyz="1.23981962913402E-10"
+        izz="1.34139906932954E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="middle_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794297217511273 3.01910607531514E-07 0.00220112291424343"
+        rpy="0 0 0" />
+      <mass
+        value="0.00089553394223667" />
+      <inertia
+        ixx="3.4628680824945E-08"
+        ixy="5.2072111337213E-13"
+        ixz="5.91055676999336E-09"
+        iyy="2.8543986898049E-08"
+        iyz="6.15915602738524E-13"
+        izz="4.38105935701438E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 -0.01175 0.1481"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114165889805229 -3.47779025311641E-05 0.0228930740987337"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450935628154299" />
+      <inertia
+        ixx="6.66693338335738E-07"
+        ixy="1.00781853170701E-11"
+        ixz="-2.53156876802064E-08"
+        iyy="6.74214594716548E-07"
+        iyz="1.59197443843837E-10"
+        izz="1.3576088799114E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="ring_metacarpals" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206830314670712 -2.69762827293657E-06 0.0167055565294543"
+        rpy="0 0 0" />
+      <mass
+        value="0.00237861824163314" />
+      <inertia
+        ixx="2.29584431475388E-07"
+        ixy="-3.79527881056473E-12"
+        ixz="-1.47269516053097E-08"
+        iyy="1.76802239049448E-07"
+        iyz="3.59871797815951E-13"
+        izz="9.62875380320043E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.75"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816260402385198 -2.26723442381116E-05 0.00811819722787116"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334176238553782" />
+      <inertia
+        ixx="1.59568900413529E-07"
+        ixy="-1.5226555011147E-10"
+        ixz="-5.9426614092103E-08"
+        iyy="1.78096631554275E-07"
+        iyz="1.23978578539056E-10"
+        izz="1.34139906897543E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="ring_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_metacarpals">
+    <inertial>
+      <origin
+        xyz="-0.00794297217877612 3.019106075558E-07 0.00220112291424343"
+        rpy="0 0 0" />
+      <mass
+        value="0.000895533942236661" />
+      <inertia
+        ixx="3.46286808249448E-08"
+        ixy="5.20721113385638E-13"
+        ixz="5.91055676999334E-09"
+        iyy="2.85439868980489E-08"
+        iyz="6.15915602787648E-13"
+        izz="4.38105935701437E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="0.0038 -0.03525 0.1436"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.23"
+      upper="0.23"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00114165890216106 -3.47779084241967E-05 0.0228930741124087"
+        rpy="0 0 0" />
+      <mass
+        value="0.00450935627773312" />
+      <inertia
+        ixx="6.6669333754323E-07"
+        ixy="1.00781372651744E-11"
+        ixz="-2.53156873668278E-08"
+        iyy="6.74214593816853E-07"
+        iyz="1.59197565505674E-10"
+        izz="1.35760887844139E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0021302 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_metacarpals" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.000206830314670489 -2.69762827287412E-06 0.0167055565294545"
+        rpy="0 0 0" />
+      <mass
+        value="0.0023786182416333" />
+      <inertia
+        ixx="2.29584431475459E-07"
+        ixy="-3.79527884680841E-12"
+        ixz="-1.47269516053079E-08"
+        iyy="1.76802239049466E-07"
+        iyz="3.5987180643017E-13"
+        izz="9.62875380320415E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0041946 0 0.044819"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.75"
+      effort="1"
+      velocity="100" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.00816260391299546 -2.26722056161019E-05 0.00811819704290559"
+        rpy="0 0 0" />
+      <mass
+        value="0.00334176233214274" />
+      <inertia
+        ixx="1.59568898336975E-07"
+        ixy="-1.52270106341856E-10"
+        ixz="-5.94266114992739E-08"
+        iyy="1.78096625944569E-07"
+        iyz="1.23981107883524E-10"
+        izz="1.3413990252827E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="0.0028245 0 0.031696"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.55"
+      effort="1"
+      velocity="100" />
+    <mimic
+      joint="pinky_pip"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..f277145
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/index_distal.STL
new file mode 100644
index 0000000..b812c38
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/index_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..a319384
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/index_middle.STL
new file mode 100644
index 0000000..5ea8f9c
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/index_proximal.STL
new file mode 100644
index 0000000..923012e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/middle_distal.STL
new file mode 100644
index 0000000..cd1ee86
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/middle_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/middle_metacarpals.STL
new file mode 100644
index 0000000..62a6b35
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/middle_middle.STL
new file mode 100644
index 0000000..3b9861b
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/middle_proximal.STL
new file mode 100644
index 0000000..9febd39
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/pinky_distal.STL
new file mode 100644
index 0000000..8f25349
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/pinky_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/pinky_metacarpals.STL
new file mode 100644
index 0000000..64b9b7b
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/pinky_middle.STL
new file mode 100644
index 0000000..d1a62f6
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..d26bc4b
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/ring_distal.STL
new file mode 100644
index 0000000..9b53ea5
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/ring_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/ring_metacarpals.STL
new file mode 100644
index 0000000..095a682
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/ring_middle.STL
new file mode 100644
index 0000000..b25525e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/ring_proximal.STL
new file mode 100644
index 0000000..7b2a085
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_distal.STL
new file mode 100644
index 0000000..2dbc10f
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_metacarpals.STL
new file mode 100644
index 0000000..384fd60
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_metacarpals_base1.STL
new file mode 100644
index 0000000..71269cb
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_metacarpals_base1.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_metacarpals_base2.STL
new file mode 100644
index 0000000..e1c0763
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_metacarpals_base2.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l25_right/meshes/thumb_proximal.STL
new file mode 100644
index 0000000..d32cf2d
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/linkerhand_l6_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/linkerhand_l6_left.urdf
new file mode 100644
index 0000000..c858b83
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/linkerhand_l6_left.urdf
@@ -0,0 +1,705 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_L6V3.1_left">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="0.0128298250982812 -0.021630428371584 0.116390759303948"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104458077111"
+        ixy="0.000241223825957363"
+        ixz="2.64979780975382E-05"
+        iyy="0.00165967539426343"
+        iyz="-0.000600773268926636"
+        izz="0.00133471527053025" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.00501656118454501 0.00826797388845102 0.0896985736828346"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104458077111"
+        ixy="0.000241223825957363"
+        ixz="2.64979780975382E-05"
+        iyy="0.00165967539426343"
+        iyz="-0.000600773268926636"
+        izz="0.00133471527053025" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="0.0078133 -0.029898 0.026692"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.53"
+      effort="0"
+      velocity="4.67" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00634447457633638 0.0861308496109555 0.0222939123942164"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00278761777129622"
+        ixy="-0.000201107027639807"
+        ixz="5.09308410778808E-05"
+        iyy="0.000917534978532124"
+        iyz="0.000202929588966586"
+        izz="0.00204028249573645" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0047867 -0.013583 0.0032216"
+      rpy="1.084 0.011362 0.33143" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="0"
+      upper="0.73"
+      effort="0"
+      velocity="1.92" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.00737276679515254 0.0799426766932592 -0.0604060876058207"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00278213859177961"
+        ixy="-0.000225078951682982"
+        ixz="5.35353428889284E-05"
+        iyy="0.00092301415804901"
+        iyz="0.000202258091835229"
+        izz="0.00204028249573617" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_dip"
+    type="revolute">
+    <origin
+      xyz="0 0.0061 0.0827"
+      rpy="0 0 0.012856" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="0"
+      upper="0.66"
+      effort="0"
+      velocity="1.7" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.9"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="0.0134980367367679 0.00728303484140047 -0.00121578689141244"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104458077156"
+        ixy="0.000242280034109678"
+        ixz="1.38369839406228E-05"
+        iyy="0.00159598740490746"
+        iyz="-0.000614465961278097"
+        izz="0.00139840325988577" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00066821 -0.028967 0.11722"
+      rpy="0.05236 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="0"
+      velocity="3.4" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="0.0125605514144544 0.0072830348414184 -0.0292179496877288"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104458077099"
+        ixy="0.000242280034109912"
+        ixz="1.3836983938613E-05"
+        iyy="0.00159598740490809"
+        iyz="-0.000614465961278584"
+        izz="0.00139840325988572" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="0.00093749 0 0.028002"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="0"
+      velocity="3.1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.88"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.0134980367369037 -0.0127291142681252 -0.0068303319311588"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104458077169"
+        ixy="0.00024122382595605"
+        ixz="2.6497978096815E-05"
+        iyy="0.00165967539426285"
+        iyz="-0.000600773268926668"
+        izz="0.00133471527053025" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00066821 -0.0089013 0.12322"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="0"
+      velocity="3.4" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="0.0125605514146649 -0.0127291142681054 -0.0348324947274665"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104458077099"
+        ixy="0.000241223825957497"
+        ixz="2.64979780972907E-05"
+        iyy="0.00165967539426357"
+        iyz="-0.0006007732689267"
+        izz="0.00133471527053024" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="0.00093749 0 0.028002"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="0"
+      velocity="3.1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.88"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.0135034763891073 -0.0322070589924826 -0.00352273770938985"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104528718287"
+        ixy="0.000239501193453185"
+        ixz="3.90729826779646E-05"
+        iyy="0.00172158321805657"
+        iyz="-0.000580500543580659"
+        izz="0.00127280674032535" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00067368 0.010717 0.11822"
+      rpy="-0.05236 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="0"
+      velocity="3.4" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="0.0125662759915461 -0.0322070589925157 -0.0315247869317354"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104458077099"
+        ixy="0.000239506440065448"
+        ixz="3.90863431391733E-05"
+        iyy="0.00172158321805667"
+        iyz="-0.00058049837892126"
+        izz="0.00127280744673714" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="0.00093749 0 0.028002"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="0"
+      velocity="3.1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.88"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.0135083263543281 -0.051436290409925 -0.00233914598356055"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104543784213"
+        ixy="0.000237991353146981"
+        ixz="4.74074655042703E-05"
+        iyy="0.00176153014037169"
+        iyz="-0.00056343395740413"
+        izz="0.00123285966735098" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00067852 0.029814 0.11424"
+      rpy="-0.087266 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="0"
+      velocity="3.4" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.0125711152593572 -0.0514362904099614 -0.0303411951621298"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546273770347" />
+      <inertia
+        ixx="0.00275104458077099"
+        ixy="0.000237996445509932"
+        ixz="4.74211870101881E-05"
+        iyy="0.00176153014037208"
+        iyz="-0.000563431806391683"
+        izz="0.00123286052442172" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="0.00093749 0 0.028002"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="0"
+      velocity="3.1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.88"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..861415f
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/hand_base_link.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/index_distal.STL
new file mode 100644
index 0000000..15ba6e1
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/index_proximal.STL
new file mode 100644
index 0000000..07cd2ab
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/middle_distal.STL
new file mode 100644
index 0000000..b5e1445
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/middle_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/middle_proximal.STL
new file mode 100644
index 0000000..c3b110d
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/middle_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/pinky_distal.STL
new file mode 100644
index 0000000..abcf4da
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/pinky_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..0d48b8e
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/pinky_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/ring_distal.STL
new file mode 100644
index 0000000..03cdc8d
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/ring_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/ring_proximal.STL
new file mode 100644
index 0000000..1f4901a
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/ring_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/thumb_distal.STL
new file mode 100644
index 0000000..a2d41ba
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/thumb_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/thumb_metacarpals.STL
new file mode 100644
index 0000000..93ef2a4
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/thumb_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/thumb_metacarpals_base1.STL
new file mode 100644
index 0000000..40d2484
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_left/meshes/thumb_metacarpals_base1.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/linkerhand_l6_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/linkerhand_l6_right.urdf
new file mode 100644
index 0000000..2b6bfc0
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/linkerhand_l6_right.urdf
@@ -0,0 +1,705 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_L6V3.1_right">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="0.0120720994445363 -0.0533311205868962 0.118354546789334"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0187631035796005"
+        ixy="-0.000730738470949583"
+        ixz="1.75019990504221E-05"
+        iyy="0.0015621317817439"
+        iyz="-0.00131261480504079"
+        izz="0.0174713068322666" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.00425883553080008 -0.0873259584388277 0.0896834833730557"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0187631035796005"
+        ixy="-0.000730904135775121"
+        ixz="-8.011067551805E-06"
+        iyy="0.00167307213734324"
+        iyz="-0.00186430131719871"
+        izz="0.0173603664766673" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="0.0078133 0.030812 0.025678"
+      rpy="-0.034907 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.53"
+      effort="0"
+      velocity="4.67" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.0316012851206384 -0.121450158132549 -0.0438719467784548"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0173897805803727"
+        ixy="0.00166977340768109"
+        ixz="0.00443614151282338"
+        iyy="0.0156514741779185"
+        iyz="-0.00496661346948399"
+        izz="0.00475528743531981" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0045503 0.013664 0.0032288"
+      rpy="-1.084 0.011362 -0.33143" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="0.73"
+      effort="0"
+      velocity="1.92" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0316012851206471 -0.115350158132533 -0.126571946778471"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0173897805803722"
+        ixy="0.00166977340768132"
+        ixz="0.00443614151282414"
+        iyy="0.0156514741779187"
+        iyz="-0.00496661346948364"
+        izz="0.0047552874353201" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_dip"
+    type="revolute">
+    <origin
+      xyz="0 -0.0061 0.0827"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="0.66"
+      effort="0"
+      velocity="1.7" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.9"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="0.0127403110831121 -0.0862358557815982 -0.00532302727752912"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0187631035796022"
+        ixy="-0.000729483190156132"
+        ixz="-4.62526555258532E-05"
+        iyy="0.00191091300899837"
+        iyz="-0.00267397286461265"
+        izz="0.0171225256050105" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00066821 0.033041 0.11614"
+      rpy="-0.087266 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="0"
+      velocity="3.4" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="0.0115307725103063 -0.086235855781547 -0.0333147584930313"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0187631035796022"
+        ixy="-0.000729483190156132"
+        ixz="-4.62526555258353E-05"
+        iyy="0.00191091300899824"
+        iyz="-0.00267397286461229"
+        izz="0.0171225256050106" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="0.0012095 0 0.027992"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="0"
+      velocity="3" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.88"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.012740311083254 -0.0663304609280521 -0.00679987210490719"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0187631035796023"
+        ixy="-0.000730904135754547"
+        ixz="-8.01106754956061E-06"
+        iyy="0.00167307213734148"
+        iyz="-0.00186430131719871"
+        izz="0.0173603664766673" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00066821 0.013196 0.12284"
+      rpy="-0.034907 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="0"
+      velocity="3.4" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="0.0118044127355904 -0.0663304609280288 -0.0348020879865608"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0187631035796051"
+        ixy="-0.000730904135720681"
+        ixz="-8.01106754586631E-06"
+        iyy="0.00167307213733858"
+        iyz="-0.00186430131719873"
+        izz="0.0173603664766673" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="0.0009359 0 0.028002"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="0"
+      velocity="3" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.88"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.0130677258647359 -0.0467425736594385 0.000410608285063799"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.018763104126348"
+        ixy="-0.000730331071151995"
+        ixz="3.02411730475021E-05"
+        iyy="0.0015211679054796"
+        iyz="-0.00103419749370512"
+        izz="0.0175122701617834" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00099562 -0.0065885 0.11876"
+      rpy="0.017453 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="0"
+      velocity="3.4" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="0.0121318275167904 -0.0467425736594119 -0.0275916075965142"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0187631041263469"
+        ixy="-0.000730331071165334"
+        ixz="3.02411730467175E-05"
+        iyy="0.00152116790548068"
+        iyz="-0.0010341974937048"
+        izz="0.0175122701617834" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="0.0009359 0 0.028002"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="0"
+      velocity="3" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.88"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.0127534854800234 -0.0273184671200355 0.00458170077943068"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0187632549861503"
+        ixy="-0.000727038668127835"
+        ixz="5.57600408345778E-05"
+        iyy="0.00146835183666982"
+        iyz="-0.000473931008879042"
+        izz="0.0175649353707909" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00067852 -0.025809 0.11521"
+      rpy="0.05236 0 -0.00010364" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.22"
+      effort="0"
+      velocity="3.4" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.0118175871372129 -0.0273185638038546 -0.023420515102182"
+        rpy="0 0 0" />
+      <mass
+        value="0.525546548666235" />
+      <inertia
+        ixx="0.0187632549861503"
+        ixy="-0.000727038668127835"
+        ixz="5.57600408345778E-05"
+        iyy="0.00146835183666982"
+        iyz="-0.000473931008879042"
+        izz="0.0175649353707909" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="0.0009359 0 0.028002"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.08"
+      effort="0"
+      velocity="3" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.88"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..ca10953
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/index_distal.STL
new file mode 100644
index 0000000..70409df
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/index_proximal.STL
new file mode 100644
index 0000000..452052d
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/middle_distal.STL
new file mode 100644
index 0000000..c4bad01
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/middle_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/middle_proximal.STL
new file mode 100644
index 0000000..6b1f4ed
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/middle_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/pinky_distal.STL
new file mode 100644
index 0000000..8fb8d74
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/pinky_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..4eff46c
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/pinky_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/ring_distal.STL
new file mode 100644
index 0000000..019bac7
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/ring_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/ring_proximal.STL
new file mode 100644
index 0000000..7ac57c8
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/ring_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/thumb_distal.STL
new file mode 100644
index 0000000..d3d6067
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/thumb_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/thumb_metacarpals.STL
new file mode 100644
index 0000000..be42f33
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/thumb_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/thumb_metacarpals_base1.STL
new file mode 100644
index 0000000..6e16930
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l6_right/meshes/thumb_metacarpals_base1.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/linkerhand_l7_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/linkerhand_l7_left.urdf
new file mode 100644
index 0000000..9b356c9
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/linkerhand_l7_left.urdf
@@ -0,0 +1,1073 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="likerhand_o7t_left.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0042500911837508 0.00085680978297864 0.0748400307377518"
+        rpy="0 0 0" />
+      <mass
+        value="0.225124072566834" />
+      <inertia
+        ixx="0.000307215791868368"
+        ixy="-2.62393594835236E-06"
+        ixz="-6.32980141818779E-06"
+        iyy="0.000204974944876431"
+        iyz="3.62195604578169E-06"
+        izz="0.000138551118704521" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0221868758326095 -9.48625995070285E-06 -0.00324883171979469"
+        rpy="0 0 0" />
+      <mass
+        value="0.0115244960032222" />
+      <inertia
+        ixx="3.08657221406028E-06"
+        ixy="2.39576891596808E-09"
+        ixz="3.1376074283793E-07"
+        iyy="4.37069643376973E-06"
+        iyz="1.08562146715063E-09"
+        izz="1.95654132689649E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.016939 -0.018427 0.057465"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.000732158506501421 -0.00116891771237498 -0.00114043413649958"
+        rpy="0 0 0" />
+      <mass
+        value="0.0194012482707974" />
+      <inertia
+        ixx="3.11023242394477E-06"
+        ixy="7.00345951479998E-07"
+        ixz="-3.45895864415883E-08"
+        iyy="2.43362631795933E-06"
+        iyz="5.55699212497148E-08"
+        izz="2.77691812675186E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.029224 0.00012028 0.0020117"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00175928357967789 5.98422066862003E-05 0.0251802708380432"
+        rpy="0 0 0" />
+      <mass
+        value="0.0177522528853587" />
+      <inertia
+        ixx="2.97620250609612E-06"
+        ixy="-1.75606406726447E-10"
+        ixz="8.88206077184725E-08"
+        iyy="4.02119583080426E-06"
+        iyz="-5.14340714112944E-10"
+        izz="1.61792798866592E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.015425 -0.024408 -0.0034929"
+      rpy="0 -1.1075 2.1313" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.5285"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134514656695575 -6.2245440023978E-06 0.0155657254696806"
+        rpy="0 0 0" />
+      <mass
+        value="0.00522318022645753" />
+      <inertia
+        ixx="9.25272679777908E-07"
+        ixy="8.8733597010757E-12"
+        ixz="1.11610235976856E-07"
+        iyy="8.23288983910426E-07"
+        iyz="-4.13122351934137E-11"
+        izz="4.09240194803836E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0049422 0 0.050268"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.186"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="2.24"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.0012828823583598 8.66398637835997E-06 0.0121296195661648"
+        rpy="0 0 0" />
+      <mass
+        value="0.0059927321340954" />
+      <inertia
+        ixx="3.54974702508419E-07"
+        ixy="2.25470558333717E-10"
+        ixz="1.02705988899827E-07"
+        iyy="3.68385773825653E-07"
+        iyz="5.55834292489291E-11"
+        izz="2.80219721351633E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.0040391 0 0.036444"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.256"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="2.38"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325184022307572 -5.73777268036979E-05 0.0195194519488432"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304918852223857" />
+      <inertia
+        ixx="2.70561430617686E-07"
+        ixy="4.04016903074442E-10"
+        ixz="3.98546481487138E-08"
+        iyy="2.61413228132876E-07"
+        iyz="1.27694129235523E-09"
+        izz="1.43213403424246E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0010899 -0.027484 0.1273"
+      rpy="0.017453 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220166605939472 0.000343544227875414 0.0115244041402905"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325826222115125" />
+      <inertia
+        ixx="2.84903328684065E-07"
+        ixy="-1.91220675187704E-09"
+        ixz="4.46236233645146E-08"
+        iyy="2.60287147871894E-07"
+        iyz="4.72747608453597E-09"
+        izz="1.33240305815556E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="0.000205192768436009 5.00807908632439E-05 0.0116640269704398"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386914599414329" />
+      <inertia
+        ixx="2.13092899098193E-07"
+        ixy="-4.43659936071928E-10"
+        ixz="4.32266496521949E-08"
+        iyy="2.07077941254489E-07"
+        iyz="3.00868537950707E-09"
+        izz="1.20295876651976E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325186288012639 -5.73454626350833E-05 0.0195195889004449"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304916574973766" />
+      <inertia
+        ixx="2.70554051207578E-07"
+        ixy="4.03711836861357E-10"
+        ixz="3.98537937936656E-08"
+        iyy="2.61406398624621E-07"
+        iyz="1.278882248156E-09"
+        izz="1.43213023085845E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0030759 -0.0081771 0.1323"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220166778232146 0.000343539248883085 0.0115243995791403"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325826090000982" />
+      <inertia
+        ixx="2.84903242801029E-07"
+        ixy="-1.91226349169516E-09"
+        ixz="4.46235974644869E-08"
+        iyy="2.60287108562876E-07"
+        iyz="4.72757371001898E-09"
+        izz="1.33240236728541E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="0.000205178072639707 5.00682687798182E-05 0.0116640598651227"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386915654397527" />
+      <inertia
+        ixx="2.13094283443978E-07"
+        ixy="-4.4383622725015E-10"
+        ixz="4.32271566193733E-08"
+        iyy="2.07079487486431E-07"
+        iyz="3.00914543235198E-09"
+        izz="1.20296117946962E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325188639109948 -5.73091636886791E-05 0.0195197425412056"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304914173423174" />
+      <inertia
+        ixx="2.70545905130282E-07"
+        ixy="4.03369804356248E-10"
+        ixz="3.98528630246444E-08"
+        iyy="2.61398848427869E-07"
+        iyz="1.28105530251793E-09"
+        izz="1.43212636885902E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0010899 0.01113 0.1273"
+      rpy="-0.017453 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220166573650245 0.000343543985173556 0.0115244051126353"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325826270162551" />
+      <inertia
+        ixx="2.8490335431282E-07"
+        ixy="-1.91220861885623E-09"
+        ixz="4.46236286956316E-08"
+        iyy="2.60287161545827E-07"
+        iyz="4.72747837494482E-09"
+        izz="1.3324032112194E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="0.000205171820409959 5.00624731339938E-05 0.0116640697629539"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386915820986361" />
+      <inertia
+        ixx="2.13094587693163E-07"
+        ixy="-4.43940590912624E-10"
+        ixz="4.32272330130178E-08"
+        iyy="2.07079828868233E-07"
+        iyz="3.00935119539752E-09"
+        izz="1.20296055752743E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325189370161746 -5.72983166947649E-05 0.0195197823487483"
+        rpy="0 0 0" />
+      <mass
+        value="0.0030491364649747" />
+      <inertia
+        ixx="2.70544107359494E-07"
+        ixy="4.03294066340961E-10"
+        ixz="3.98526745300938E-08"
+        iyy="2.61397222251281E-07"
+        iyz="1.28156767029427E-09"
+        izz="1.43212528194326E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00091015 0.030436 0.12229"
+      rpy="-0.034907 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.002201665613911 0.000343544066900431 0.0115244051215708"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325826278499646" />
+      <inertia
+        ixx="2.84903357062453E-07"
+        ixy="-1.91220937408046E-09"
+        ixz="4.46236295954511E-08"
+        iyy="2.60287165262845E-07"
+        iyz="4.72747841623595E-09"
+        izz="1.33240325394021E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.000205168748081741 5.00603283008771E-05 0.0116640796497016"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386915855597929" />
+      <inertia
+        ixx="2.1309463405403E-07"
+        ixy="-4.43985775170374E-10"
+        ixz="4.32272565907302E-08"
+        iyy="2.07079916973927E-07"
+        iyz="3.00952443609274E-09"
+        izz="1.20295986265221E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/base_link.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/hand_base_link.STL
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index 0000000..4bce1d7
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/index_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/index_link0.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/index_link0.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/pinky_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/ring_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link0.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link0.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link3.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link3.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link4.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link4.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link5.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_link5.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_left/meshes/thumb_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/linkerhand_l7_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/linkerhand_l7_right.urdf
new file mode 100644
index 0000000..0d39d6f
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/linkerhand_l7_right.urdf
@@ -0,0 +1,1073 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_o7t_right.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00424649751371995 -0.000862887416275456 0.0748471792869467"
+        rpy="0 0 0" />
+      <mass
+        value="0.224993676691102" />
+      <inertia
+        ixx="0.000307116186491815"
+        ixy="2.61659725445651E-06"
+        ixz="-6.32446998312666E-06"
+        iyy="0.000204938622467429"
+        iyz="-3.62127144044683E-06"
+        izz="0.000138468169689365" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0221879177257061 9.4967413269316E-06 -0.00324810095386431"
+        rpy="0 0 0" />
+      <mass
+        value="0.0115249134895388" />
+      <inertia
+        ixx="3.08667102562358E-06"
+        ixy="-2.45862059608496E-09"
+        ixz="3.13556912700589E-07"
+        iyy="4.3709812224308E-06"
+        iyz="-1.09530666159332E-09"
+        izz="1.95667196495585E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.016939 0.018427 0.057465"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.000657101787937486 0.00104851154234433 -0.00113956081948991"
+        rpy="0 0 0" />
+      <mass
+        value="0.01940166650745" />
+      <inertia
+        ixx="3.11012438785897E-06"
+        ixy="-7.0034651782409E-07"
+        ixz="-3.44895601987918E-08"
+        iyy="2.43367257868183E-06"
+        iyz="-5.59175765565545E-08"
+        izz="2.77701874779203E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.0293 0 0.0020117"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00175933658915796 -5.96504126060375E-05 0.0251801046994234"
+        rpy="0 0 0" />
+      <mass
+        value="0.0177521108657244" />
+      <inertia
+        ixx="2.97617104670385E-06"
+        ixy="1.85044369912824E-10"
+        ixz="8.88003468597959E-08"
+        iyy="4.02115700293481E-06"
+        iyz="4.92419253103346E-10"
+        izz="1.61792154263255E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.01535 0.024288 -0.0034929"
+      rpy="0 -1.1075 -2.1313" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.5285"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134526311852616 6.07660660935025E-06 0.0155657696459344"
+        rpy="0 0 0" />
+      <mass
+        value="0.00522318738806682" />
+      <inertia
+        ixx="9.25274247600393E-07"
+        ixy="-1.65401508753502E-11"
+        ixz="1.11609876915452E-07"
+        iyy="8.23287363248585E-07"
+        iyz="5.43302131881219E-11"
+        izz="4.09241239147395E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0049422 0 0.050268"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.186"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="2.24"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00128308035650056 -8.24642944257173E-06 0.0121298668147546"
+        rpy="0 0 0" />
+      <mass
+        value="0.00599292590405824" />
+      <inertia
+        ixx="3.54987794133438E-07"
+        ixy="-2.17906247389587E-10"
+        ixz="1.02717341851269E-07"
+        iyy="3.68409426963011E-07"
+        iyz="-7.13047316865665E-11"
+        izz="2.80231280919996E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.0040391 0 0.036444"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.256"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="2.38"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.0032518064346344 5.73435595726795E-05 0.0195194781444541"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304916039909536" />
+      <inertia
+        ixx="2.70564868706054E-07"
+        ixy="-4.09152820952322E-10"
+        ixz="3.98597505804528E-08"
+        iyy="2.61418458298347E-07"
+        iyz="-1.28012336147491E-09"
+        izz="1.4321431670118E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0010899 0.027484 0.1273"
+      rpy="-0.017453 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220167909176389 -0.000343531073618132 0.0115244069143184"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325825848442436" />
+      <inertia
+        ixx="2.8490415059528E-07"
+        ixy="1.91239904551334E-09"
+        ixz="4.46237082998526E-08"
+        iyy="2.60287200116906E-07"
+        iyz="-4.72652523980715E-09"
+        izz="1.33239580887688E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="0.000205003552135347 -5.00639376030902E-05 0.0116644517439974"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386935492598895" />
+      <inertia
+        ixx="2.13117220171242E-07"
+        ixy="4.48302439305257E-10"
+        ixz="4.32406381764883E-08"
+        iyy="2.07111508255759E-07"
+        iyz="-3.01875998154566E-09"
+        izz="1.20303603749287E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325183237058274 5.73145378753642E-05 0.0195196141000392"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304913798747595" />
+      <inertia
+        ixx="2.70557098970273E-07"
+        ixy="-4.08865696672332E-10"
+        ixz="3.98586221422375E-08"
+        iyy="2.61411279054861E-07"
+        iyz="-1.28207051883436E-09"
+        izz="1.43213885368697E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0030759 0.0081771 0.1323"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.0022016810859708 -0.00034353700371422 0.0115244012272034"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325825654598412" />
+      <inertia
+        ixx="2.84904020576023E-07"
+        ixy="1.91233621961464E-09"
+        ixz="4.46236745273724E-08"
+        iyy="2.60287132912749E-07"
+        iyz="-4.72641985986877E-09"
+        izz="1.33239489502427E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="0.000205019804226589 -5.00611866558441E-05 0.0116644192481372"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386934334877093" />
+      <inertia
+        ixx="2.13115752186946E-07"
+        ixy="4.483082159401E-10"
+        ixz="4.32401705352848E-08"
+        iyy="2.07109947925868E-07"
+        iyz="-3.01874595073253E-09"
+        izz="1.20303477712343E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325186150336549 5.72819703951039E-05 0.0195197725001552"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304911330763648" />
+      <inertia
+        ixx="2.70548036735914E-07"
+        ixy="-4.0855911209404E-10"
+        ixz="3.98573112742051E-08"
+        iyy="2.61402871079389E-07"
+        iyz="-1.28432896400596E-09"
+        izz="1.43213406344549E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0010899 -0.01113 0.1273"
+      rpy="0.017453 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_mcp_pitch">
+    <inertial>
+      <origin
+        xyz="-0.00220167993906391 -0.000343532631468264 0.011524404583006"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325825753654453" />
+      <inertia
+        ixx="2.84904089242319E-07"
+        ixy="1.91238364678801E-09"
+        ixz="4.46236943743486E-08"
+        iyy="2.60287163833731E-07"
+        iyz="-4.72650146753522E-09"
+        izz="1.3323953829297E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_mcp_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_mcp_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_mcp_pitch" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="0.00020502111953178 -5.00522555418534E-05 0.0116644140374793"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386934281745255" />
+      <inertia
+        ixx="2.13115701445735E-07"
+        ixy="4.48456879916902E-10"
+        ixz="4.32401093546838E-08"
+        iyy="2.0710990229611E-07"
+        iyz="-3.01905597511279E-09"
+        izz="1.20303442468631E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="ring_mcp_pitch" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325186921802022 5.72691083807614E-05 0.0195198130359342"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304910473315458" />
+      <inertia
+        ixx="2.70545040885575E-07"
+        ixy="-4.08564381291383E-10"
+        ixz="3.98567341619965E-08"
+        iyy="2.61399944340109E-07"
+        iyz="-1.28504081306415E-09"
+        izz="1.4321321936584E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00091015 -0.030436 0.12229"
+      rpy="0.034907 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220167997180173 -0.000343532680715256 0.0115244045011695"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325825750127338" />
+      <inertia
+        ixx="2.84904087000571E-07"
+        ixy="1.91238317094318E-09"
+        ixz="4.46236937859625E-08"
+        iyy="2.6028716260635E-07"
+        iyz="-4.72650084572289E-09"
+        izz="1.33239536763419E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.000205019995453311 -5.00474199050527E-05 0.0116644190987234"
+        rpy="0 0 0" />
+      <mass
+        value="0.003869344054523" />
+      <inertia
+        ixx="2.13115672247707E-07"
+        ixy="4.48523985073532E-10"
+        ixz="4.32401598937007E-08"
+        iyy="2.07109969850292E-07"
+        iyz="-3.01932182317644E-09"
+        izz="1.20303468559217E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/base_link.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/hand_base_link.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link0.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link0.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link3.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link3.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link4.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_link4.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/index_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link0.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link0.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link2.STL
new file mode 100644
index 0000000..b686aa4
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link3.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link3.STL
new file mode 100644
index 0000000..9914fcf
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link4.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/little_link4.STL
new file mode 100644
index 0000000..f9c539e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/pinky_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/pinky_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/thumb_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l7_right/meshes/thumb_proximal.STL
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index 0000000..7837d9f
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/linkerhand_o6_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/linkerhand_o6_left.urdf
new file mode 100644
index 0000000..4a712bc
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/linkerhand_o6_left.urdf
@@ -0,0 +1,706 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_O6_left.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00157788568070457 -0.00034876725935859 0.0538452219801211"
+        rpy="0 0 0" />
+      <mass
+        value="0.0672935238166485" />
+      <inertia
+        ixx="5.22525212160954E-05"
+        ixy="3.06955729584715E-07"
+        ixz="-3.90341166950521E-07"
+        iyy="3.33522349207724E-05"
+        iyz="-7.76680063574627E-07"
+        izz="2.28469461105385E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00162800681276937 -0.0027668017246415 -0.00184234438641236"
+        rpy="0 0 0" />
+      <mass
+        value="0.00138588296544333" />
+      <inertia
+        ixx="5.26292160685909E-08"
+        ixy="-3.92888681640568E-09"
+        ixz="-2.43767371295222E-09"
+        iyy="4.82620491570326E-08"
+        iyz="3.71869784206147E-09"
+        izz="2.88550286112821E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.011508 -0.022975 0.032794"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.36"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="4.24816204999817E-05 1.74183907812875E-05 0.0228341640631254"
+        rpy="0 0 0" />
+      <mass
+        value="0.0123381586619931" />
+      <inertia
+        ixx="1.10292537368909E-06"
+        ixy="-5.99642232777877E-10"
+        ixz="-1.14233573940545E-07"
+        iyy="1.76757772551884E-06"
+        iyz="-4.03963570823777E-10"
+        izz="9.36347792411098E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0061649 -0.010678 -0.004891"
+      rpy="0 -1.1529 2.0944" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.58"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00413725702921841 -5.90704520436747E-08 0.023011401589736"
+        rpy="0 0 0" />
+      <mass
+        value="0.00763332957284057" />
+      <inertia
+        ixx="1.3057487813702E-06"
+        ixy="-1.19781508112714E-11"
+        ixz="-7.19551697268541E-08"
+        iyy="1.2248908905341E-06"
+        iyz="4.55347974652679E-12"
+        izz="2.77271910592615E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="0.0037776 0 0.045368"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.96"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.86"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208656556336452 2.53838713251686E-06 0.0172734941980264"
+        rpy="0 0 0" />
+      <mass
+        value="0.00253174651934627" />
+      <inertia
+        ixx="2.65988714157799E-07"
+        ixy="-1.67174578825824E-11"
+        ixz="-4.31047725546034E-08"
+        iyy="2.72914069166233E-07"
+        iyz="1.8756709532167E-10"
+        izz="8.56017305636748E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0024758 -0.02419 0.098779"
+      rpy="0.05236 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.60"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="0.00658986616416549 5.13855642059191E-06 0.0194393600039178"
+        rpy="0 0 0" />
+      <mass
+        value="0.00376951085886838" />
+      <inertia
+        ixx="3.22347106085043E-07"
+        ixy="1.3801788663582E-11"
+        ixz="1.14352857317951E-07"
+        iyy="3.65328133721509E-07"
+        iyz="-2.11505011705634E-10"
+        izz="1.24287996386442E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208660654138235 2.56918180119303E-06 0.0172735011723351"
+        rpy="0 0 0" />
+      <mass
+        value="0.00253177375206983" />
+      <inertia
+        ixx="2.65989021304483E-07"
+        ixy="-1.69816046635662E-11"
+        ixz="-4.31046683215273E-08"
+        iyy="2.72914402745606E-07"
+        iyz="1.87484652324395E-10"
+        izz="8.5602213431865E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00052576 -0.00634 0.1027"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.60"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="0.00658986516319194 5.10862924271716E-06 0.0194393315699782"
+        rpy="0 0 0" />
+      <mass
+        value="0.00376952789210256" />
+      <inertia
+        ixx="3.22348591068053E-07"
+        ixy="1.37122394856588E-11"
+        ixz="1.1435291391668E-07"
+        iyy="3.65329535087755E-07"
+        iyz="-2.10453810291991E-10"
+        izz="1.24288425862546E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208667931345812 2.63000419462034E-06 0.0172734926448377"
+        rpy="0 0 0" />
+      <mass
+        value="0.00253182223645066" />
+      <inertia
+        ixx="2.65989756076584E-07"
+        ixy="-1.74912952703656E-11"
+        ixz="-4.31043325594253E-08"
+        iyy="2.7291510093393E-07"
+        iyz="1.87158326740895E-10"
+        izz="8.56031522765909E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0010258 0.011135 0.098767"
+      rpy="-0.05236 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.60"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="0.00658986648895491 5.05883528165163E-06 0.019439397215532"
+        rpy="0 0 0" />
+      <mass
+        value="0.00376949588316609" />
+      <inertia
+        ixx="3.2234524157181E-07"
+        ixy="1.35766976056011E-11"
+        ixz="1.14353011012842E-07"
+        iyy="3.65326570102147E-07"
+        iyz="-2.08672149138738E-10"
+        izz="1.24287770218135E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208673599799501 2.68062251165824E-06 0.0172734848131236"
+        rpy="0 0 0" />
+      <mass
+        value="0.00253185993162408" />
+      <inertia
+        ixx="2.6599033687183E-07"
+        ixy="-1.79030790016555E-11"
+        ixz="-4.31040829565781E-08"
+        iyy="2.72915617381577E-07"
+        iyz="1.86906787420486E-10"
+        izz="8.56039175034871E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0024758 0.028372 0.092741"
+      rpy="-0.087266 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.60"
+      effort="100"
+      velocity="1" />
+    
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.00658987588903027 5.03087534178825E-06 0.0194394491065091"
+        rpy="0 0 0" />
+      <mass
+        value="0.00376948071276134" />
+      <inertia
+        ixx="3.22343583730488E-07"
+        ixy="1.35768173270357E-11"
+        ixz="1.14353289593012E-07"
+        iyy="3.65325180884183E-07"
+        iyz="-2.0744198062439E-10"
+        izz="1.24287567374229E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..b7ab0c1
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/index_distal.STL
new file mode 100644
index 0000000..db30679
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/index_proximal.STL
new file mode 100644
index 0000000..f427e3c
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/middle_distal.STL
new file mode 100644
index 0000000..a4838a5
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/middle_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/middle_proximal.STL
new file mode 100644
index 0000000..e8d4268
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/middle_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/pinky_distal.STL
new file mode 100644
index 0000000..abcb9c0
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/pinky_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..5f013e6
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/pinky_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/ring_distal.STL
new file mode 100644
index 0000000..b8247b1
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/ring_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/ring_proximal.STL
new file mode 100644
index 0000000..7c47ff6
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/thumb_distal.STL
new file mode 100644
index 0000000..19eee73
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/thumb_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/thumb_metacarpals.STL
new file mode 100644
index 0000000..9f1ab59
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/thumb_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/thumb_metacarpals_base2.STL
new file mode 100644
index 0000000..5e66834
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_left/meshes/thumb_metacarpals_base2.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/linkerhand_o6_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/linkerhand_o6_right.urdf
new file mode 100644
index 0000000..579a8d1
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/linkerhand_o6_right.urdf
@@ -0,0 +1,705 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_O6_right.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00160320773490556 0.000358462699237561 0.0538002704027215"
+        rpy="0 0 0" />
+      <mass
+        value="0.06740077960995" />
+      <inertia
+        ixx="5.22359941041901E-05"
+        ixy="3.0391535852764E-07"
+        ixz="3.88322215371643E-07"
+        iyy="3.33473043513648E-05"
+        iyz="-7.77555280794861E-07"
+        izz="2.28342677422006E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0.6 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00162795738393507 0.00276671978336815 -0.00184227725602707"
+        rpy="0 0 0" />
+      <mass
+        value="0.00138591070212997" />
+      <inertia
+        ixx="5.26294625624223E-08"
+        ixy="-3.9288013799604E-09"
+        ixz="2.43766268199571E-09"
+        iyy="4.82623724532942E-08"
+        iyz="3.71867754115443E-09"
+        izz="2.88555522060562E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.164705882352941 0.282352941176471 0.443137254901961 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.011508 0.022975 0.032794"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.54"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="4.24920612856275E-05 -1.67885666835232E-05 0.0228341522590467"
+        rpy="0 0 0" />
+      <mass
+        value="0.0123381607727595" />
+      <inertia
+        ixx="1.10292488693766E-06"
+        ixy="-6.14241939151719E-10"
+        ixz="1.14233108676795E-07"
+        iyy="1.76757658485787E-06"
+        iyz="-4.24576599367025E-10"
+        izz="9.36348143657406E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0.6 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0061649 0.010678 -0.004891"
+      rpy="0 -1.1529 -2.0944" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.52"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00413690727496815 -4.54842793429222E-07 0.0230097179163771"
+        rpy="0 0 0" />
+      <mass
+        value="0.00763302603723749" />
+      <inertia
+        ixx="1.30546842791578E-06"
+        ixy="-2.61617511029467E-12"
+        ixz="7.19030685242407E-08"
+        iyy="1.22457212713176E-06"
+        iyz="1.66931068485225E-11"
+        izz="2.7729897944409E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.792156862745098 0.792156862745098 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="0.0037776 0 0.045368"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.96"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.83"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208665596033792 -4.8964990644329E-06 0.0172736718900068"
+        rpy="0 0 0" />
+      <mass
+        value="0.00253178529301663" />
+      <inertia
+        ixx="2.65990159539482E-07"
+        ixy="-3.55165625722842E-11"
+        ixz="4.31046335852167E-08"
+        iyy="2.72915460277804E-07"
+        iyz="1.75935978708959E-10"
+        izz="8.56026306687528E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.980392156862745 0.780392156862745 0.627450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0024758 0.02419 0.098779"
+      rpy="-0.05236 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="0.00658940011630532 -4.59976557022623E-06 0.0194434136420913"
+        rpy="0 0 0" />
+      <mass
+        value="0.00376787129082313" />
+      <inertia
+        ixx="3.22116619426455E-07"
+        ixy="1.03152735699049E-11"
+        ixz="-1.14363506430985E-07"
+        iyy="3.65131844686317E-07"
+        iyz="-1.97263639269362E-10"
+        izz="1.24256890612907E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.164705882352941 0.282352941176471 0.443137254901961 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208661081773556 -4.93451838476378E-06 0.0172736805321904"
+        rpy="0 0 0" />
+      <mass
+        value="0.00253175497594429" />
+      <inertia
+        ixx="2.65989683690695E-07"
+        ixy="-3.58343951791586E-11"
+        ixz="4.31048601085216E-08"
+        iyy="2.72915006047006E-07"
+        iyz="1.75718024412593E-10"
+        izz="8.56020467202518E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.164705882352941 0.282352941176471 0.443137254901961 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00052576 0.00634 0.1027"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="0.00658940304809306 -4.5885743593238E-06 0.0194434523296449"
+        rpy="0 0 0" />
+      <mass
+        value="0.00376786259758948" />
+      <inertia
+        ixx="3.221153658306E-07"
+        ixy="1.02639617308432E-11"
+        ixz="-1.14363547272711E-07"
+        iyy="3.65130723083104E-07"
+        iyz="-1.96904618797577E-10"
+        izz="1.24256787913797E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.164705882352941 0.282352941176471 0.443137254901961 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208654311325356 -4.98538564003281E-06 0.0172736743497407"
+        rpy="0 0 0" />
+      <mass
+        value="0.00253170963529411" />
+      <inertia
+        ixx="2.6598913795678E-07"
+        ixy="-3.62757108675266E-11"
+        ixz="4.31050611555507E-08"
+        iyy="2.72914417061517E-07"
+        iyz="1.75554984053478E-10"
+        izz="8.56012458677515E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.980392156862745 0.780392156862745 0.627450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0010258 -0.011135 0.098767"
+      rpy="0.05236 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="0.00658940273069729 -4.56628863591824E-06 0.0194435005686854"
+        rpy="0 0 0" />
+      <mass
+        value="0.0037678395356105" />
+      <inertia
+        ixx="3.22112632437858E-07"
+        ixy="1.01848408913558E-11"
+        ixz="-1.1436348915342E-07"
+        iyy="3.65128262095686E-07"
+        iyz="-1.96145632992445E-10"
+        izz="1.24256284608064E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.164705882352941 0.282352941176471 0.443137254901961 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208649034130813 -5.02314582560837E-06 0.0172736680793697"
+        rpy="0 0 0" />
+      <mass
+        value="0.00253167400540778" />
+      <inertia
+        ixx="2.65988718820404E-07"
+        ixy="-3.66012295280295E-11"
+        ixz="4.31052220484445E-08"
+        iyy="2.72913936904813E-07"
+        iyz="1.75447396222308E-10"
+        izz="8.56006424720129E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.980392156862745 0.780392156862745 0.627450980392157 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0024758 -0.028372 0.092741"
+      rpy="0.087266 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.00658940431519205 -4.55268314210333E-06 0.0194435341098305"
+        rpy="0 0 0" />
+      <mass
+        value="0.00376782669873412" />
+      <inertia
+        ixx="3.22111112339498E-07"
+        ixy="1.01707985908333E-11"
+        ixz="-1.14363524419061E-07"
+        iyy="3.65126916899176E-07"
+        iyz="-1.95589215866356E-10"
+        izz="1.24256004854426E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.164705882352941 0.282352941176471 0.443137254901961 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.4"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/hand_base_link.STL
new file mode 100644
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/index_distal.STL
new file mode 100644
index 0000000..e530ec5
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/index_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/middle_distal.STL
new file mode 100644
index 0000000..1582dfe
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/middle_proximal.STL
new file mode 100644
index 0000000..2a46d3f
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/pinky_distal.STL
new file mode 100644
index 0000000..581901e
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/pinky_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..b0326b3
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/ring_distal.STL
new file mode 100644
index 0000000..1c2830a
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/ring_proximal.STL
new file mode 100644
index 0000000..b98a3db
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/thumb_distal.STL
new file mode 100644
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Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/thumb_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/thumb_metacarpals.STL
new file mode 100644
index 0000000..df9bccf
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/thumb_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/thumb_metacarpals_base2.STL
new file mode 100644
index 0000000..0546e91
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o6_right/meshes/thumb_metacarpals_base2.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/linkerhand_o7_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/linkerhand_o7_left.urdf
new file mode 100644
index 0000000..bcbf0e7
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/linkerhand_o7_left.urdf
@@ -0,0 +1,1073 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_O7_left.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000897326242450024 -0.000912910200583317 0.0725139361953409"
+        rpy="0 0 0" />
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+        ixy="-4.31409372592166E-07"
+        ixz="-1.88110470378979E-06"
+        iyy="6.48454975844519E-05"
+        iyz="8.30780063139162E-07"
+        izz="4.84048917293055E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0284788894151386 0.00319256506714694 6.34018160309141E-05"
+        rpy="0 0 0" />
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+        iyz="7.1653181934508E-08"
+        izz="7.37573294246133E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0116 -0.018174 0.061651"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
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+      upper="1.0467"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
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+        iyz="-3.76194111844174E-09"
+        izz="6.88505588241704E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.0358 0.00065771 0.0001518"
+      rpy="0.22683 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.2037"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
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+    type="revolute">
+    <origin
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+      rpy="0 -0.9163 1.8628" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
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+      effort="100"
+      velocity="1" />
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+  <link
+    name="thumb_proximal">
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+        iyz="-2.53232461107778E-11"
+        izz="4.47461469264052E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0061722 0 0.047968"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6699"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.38"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.0013880494999034 -1.94438553298426E-06 0.0115761189575842"
+        rpy="0 0 0" />
+      <mass
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+        iyy="3.23606985378064E-07"
+        iyz="1.2456516130763E-10"
+        izz="2.48874226680203E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00017064 0 0.038665"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
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+      xyz="0 1 0" />
+    <limit
+      lower="0"
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+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.36"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00123185123301241 -2.04548143356575E-06 0.0182404213309983"
+        rpy="0 0 0" />
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+        iyz="1.08480622774223E-10"
+        izz="1.40910674767013E-07" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 -0.027177 0.12685"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
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+      velocity="1" />
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+  <link
+    name="index_middle">
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+        izz="1.26672509764601E-07" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
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+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
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+  <link
+    name="index_distal">
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+        rpy="0 0 0" />
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+        iyz="1.96954369466669E-10"
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
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+      xyz="0 1 0" />
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+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
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+  <link
+    name="middle_proximal">
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+      <origin
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+        rpy="0 0 0" />
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+        iyz="1.0848062287058E-10"
+        izz="1.40910674767359E-07" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
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+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
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+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
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+    name="middle_middle">
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+        rpy="0 0 0" />
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+        iyz="2.86057149655804E-11"
+        izz="1.26672509764487E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
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+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
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+        rpy="0 0 0" />
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+        iyz="1.969296613704E-10"
+        izz="9.79299084563893E-08" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_distal"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00123185123301686 -2.04548143697969E-06 0.0182404213310381"
+        rpy="0 0 0" />
+      <mass
+        value="0.00316246744706943" />
+      <inertia
+        ixx="3.57097105403003E-07"
+        ixy="-1.4314588154039E-11"
+        ixz="4.15201790411539E-08"
+        iyy="3.51905930878337E-07"
+        iyz="1.08480622702414E-10"
+        izz="1.40910674766989E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 0.010823 0.12685"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252079745356525 2.18958247852341E-06 0.011035709401175"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043920494193" />
+      <inertia
+        ixx="2.60908427607274E-07"
+        ixy="-5.76712865025782E-11"
+        ixz="4.02265931110629E-08"
+        iyy="2.3307751875386E-07"
+        iyz="2.86057149665485E-11"
+        izz="1.26672509764501E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.00062239705526124 -4.75697558710575E-06 0.0121501695601819"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452007951333" />
+      <inertia
+        ixx="1.63942748831931E-07"
+        ixy="-1.95201740096707E-11"
+        ixz="4.28753293231027E-08"
+        iyy="1.48361196403427E-07"
+        iyz="1.96957355280363E-10"
+        izz="9.79298505176024E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00123185123301017 -2.04548143162286E-06 0.018240421330975"
+        rpy="0 0 0" />
+      <mass
+        value="0.00316246744707885" />
+      <inertia
+        ixx="3.57097105403429E-07"
+        ixy="-1.43145881543455E-11"
+        ixz="4.15201790411223E-08"
+        iyy="3.51905930879021E-07"
+        iyz="1.08480622815274E-10"
+        izz="1.40910674767324E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 0.029823 0.12185"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252079745356543 2.18958247849566E-06 0.0110357094011744"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043920494193" />
+      <inertia
+        ixx="2.60908427607402E-07"
+        ixy="-5.76712865055921E-11"
+        ixz="4.02265931105376E-08"
+        iyy="2.33077518754123E-07"
+        iyz="2.8605714962065E-11"
+        izz="1.26672509764658E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622397234656704 -4.75744725214611E-06 0.0121501744713063"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452214586484" />
+      <inertia
+        ixx="1.63942853705936E-07"
+        ixy="-1.95026824844707E-11"
+        ixz="4.28753747717248E-08"
+        iyy="1.48361304396804E-07"
+        iyz="1.96929872257974E-10"
+        izz="9.79299058734353E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..bb03464
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/index_distal.STL
new file mode 100644
index 0000000..91e3884
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/index_middle.STL
new file mode 100644
index 0000000..7724c51
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/index_proximal.STL
new file mode 100644
index 0000000..12c331e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/middle_distal.STL
new file mode 100644
index 0000000..cbb926c
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/middle_middle.STL
new file mode 100644
index 0000000..e9eedee
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/middle_proximal.STL
new file mode 100644
index 0000000..663efcc
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/pinky_distal.STL
new file mode 100644
index 0000000..91e3884
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/pinky_middle.STL
new file mode 100644
index 0000000..d881b40
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..3ed6faa
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/ring_distal.STL
new file mode 100644
index 0000000..741446b
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/ring_middle.STL
new file mode 100644
index 0000000..7724c51
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/ring_proximal.STL
new file mode 100644
index 0000000..2e30249
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_distal.STL
new file mode 100644
index 0000000..2974104
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_metacarpals.STL
new file mode 100644
index 0000000..d18f5b4
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_metacarpals_base1.STL
new file mode 100644
index 0000000..5b02a89
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_metacarpals_base1.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_metacarpals_base2.STL
new file mode 100644
index 0000000..bbaad54
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_metacarpals_base2.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_proximal.STL
new file mode 100644
index 0000000..6d93c0d
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_left/meshes/thumb_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/linkerhand_o7_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/linkerhand_o7_right.urdf
new file mode 100644
index 0000000..73df739
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/linkerhand_o7_right.urdf
@@ -0,0 +1,1074 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_O7_right.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000635826168353301 0.000417450601367603 0.0808531524968522"
+        rpy="0 0 0" />
+      <mass
+        value="0.115532510357281" />
+      <inertia
+        ixx="0.000103865728174833"
+        ixy="4.39968674525598E-07"
+        ixz="-1.9414168538026E-06"
+        iyy="6.66546428907319E-05"
+        iyz="-7.94731178870222E-07"
+        izz="4.97086581300188E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+        
+          rgba="0.443137254901961 1 0.803921568627451 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0243580400165841 -0.00531338959293788 -0.00133528896045803"
+        rpy="0 0 0" />
+      <mass
+        value="0.0140456690808547" />
+      <inertia
+        ixx="4.03793977591736E-06"
+        ixy="1.08071264191593E-07"
+        ixz="-2.78734178260313E-08"
+        iyy="1.52575111360524E-06"
+        iyz="-4.92003242238468E-07"
+        izz="2.85304047365918E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0116 0.018174 0.061651"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="1.0467"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00213681318180131 0.00710763177501164 -0.000263312556487913"
+        rpy="0 0 0" />
+      <mass
+        value="0.00582710539297639" />
+      <inertia
+        ixx="3.15922714505223E-07"
+        ixy="-1.36533145830047E-08"
+        ixz="3.23841467478572E-09"
+        iyy="2.74612320744176E-07"
+        iyz="1.07600446113149E-08"
+        izz="1.76908032965576E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.0358 -0.00065771 0.0001518"
+      rpy="-0.22683 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.2037"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00183660291644091 -2.80954450064368E-06 0.0269905349664822"
+        rpy="0 0 0" />
+      <mass
+        value="0.0152012310446388" />
+      <inertia
+        ixx="2.95371796729834E-06"
+        ixy="5.99361199100948E-11"
+        ixz="1.58081124829418E-07"
+        iyy="3.84772219086697E-06"
+        iyz="4.18612084772858E-10"
+        izz="1.32007529685639E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.4 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00456 0.015168 -0.0019302"
+      rpy="0 -0.9163 -1.8628" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.4867"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.00159270655316215 -4.43144050971817E-06 0.015157347405203"
+        rpy="0 0 0" />
+      <mass
+        value="0.00662229628279784" />
+      <inertia
+        ixx="1.01526863749369E-06"
+        ixy="-3.34101496960627E-12"
+        ixz="4.42240880925595E-08"
+        iyy="9.10432361984289E-07"
+        iyz="2.57876368384487E-11"
+        izz="4.47462819849415E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.6 0.6 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0061722 0 0.047968"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6699"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.38"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00138915766541476 1.66356642710211E-06 0.0115789718721026"
+        rpy="0 0 0" />
+      <mass
+        value="0.00512930046605133" />
+      <inertia
+        ixx="3.3096790319488E-07"
+        ixy="-3.44976097634419E-10"
+        ixz="1.04731224452388E-07"
+        iyy="3.23805443196431E-07"
+        iyz="-8.20135516212249E-11"
+        izz="2.48902658161616E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.4 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00017064 0 0.038665"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6611"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.36"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134757090763184 1.17149846208878E-06 0.0104816315652075"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982590538705" />
+      <inertia
+        ixx="4.4387863322219E-07"
+        ixy="-3.43445484515311E-12"
+        ixz="2.49386934436226E-08"
+        iyy="4.58697796485196E-07"
+        iyz="-8.5260366069422E-11"
+        izz="1.74228691388322E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 0.027177 0.12685"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252078721834403 -2.09523372295822E-06 0.0110357108291392"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635989883" />
+      <inertia
+        ixx="2.60908300266926E-07"
+        ixy="5.7696257053499E-11"
+        ixz="4.02267180695591E-08"
+        iyy="2.33077671334714E-07"
+        iyz="-2.96096272337229E-11"
+        izz="1.26672570359698E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622482641131194 5.23441917530537E-06 0.0121505004635115"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314458616089874" />
+      <inertia
+        ixx="1.63947556753414E-07"
+        ixy="1.81403035449352E-11"
+        ixz="4.28773356106629E-08"
+        iyy="1.48366028231131E-07"
+        iyz="-2.02915923098469E-10"
+        izz="9.79320068649637E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134759525542065 1.17052495086315E-06 0.0104816256254227"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982976492332" />
+      <inertia
+        ixx="4.43878677686474E-07"
+        ixy="-3.46899475635862E-12"
+        ixz="2.49386340433594E-08"
+        iyy="4.58697936345066E-07"
+        iyz="-8.52796735517462E-11"
+        izz="1.74228809222635E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 0.0081771 0.13185"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252078721834716 -2.09523371817646E-06 0.011035710829132"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635989613" />
+      <inertia
+        ixx="2.60908300266734E-07"
+        ixy="5.76962570849924E-11"
+        ixz="4.02267180699163E-08"
+        iyy="2.33077671334844E-07"
+        iyz="-2.96096272996086E-11"
+        izz="1.26672570359912E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622482698909851 5.23446393570041E-06 0.0121505005518132"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314458619941957" />
+      <inertia
+        ixx="1.63947561150062E-07"
+        ixy="1.81411847381583E-11"
+        ixz="4.28773369786875E-08"
+        iyy="1.48366032281885E-07"
+        iyz="-2.0291733623418E-10"
+        izz="9.79320086242323E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134757090654265 1.17149840283062E-06 0.0104816315647394"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982590560025" />
+      <inertia
+        ixx="4.43878633229728E-07"
+        ixy="-3.43445465421392E-12"
+        ixz="2.4938693441459E-08"
+        iyy="4.58697796493645E-07"
+        iyz="-8.52603686928918E-11"
+        izz="1.74228691390674E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 -0.010823 0.12685"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252078721834402 -2.09523372298771E-06 0.0110357108291391"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635989883" />
+      <inertia
+        ixx="2.60908300267002E-07"
+        ixy="5.76962570507088E-11"
+        ixz="4.02267180695887E-08"
+        iyy="2.3307767133472E-07"
+        iyz="-2.96096272352501E-11"
+        izz="1.26672570359684E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622482751969862 5.23452612019235E-06 0.0121505007069385"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314458625244518" />
+      <inertia
+        ixx="1.63947569170933E-07"
+        ixy="1.8141909382519E-11"
+        ixz="4.2877338243586E-08"
+        iyy="1.48366039100571E-07"
+        iyz="-2.0291967138065E-10"
+        izz="9.79320099040398E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134757090711979 1.17149839997527E-06 0.0104816315647464"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982590561137" />
+      <inertia
+        ixx="4.43878633231969E-07"
+        ixy="-3.43445483922012E-12"
+        ixz="2.49386934439635E-08"
+        iyy="4.58697796494382E-07"
+        iyz="-8.52603686898309E-11"
+        izz="1.7422869138941E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 -0.029823 0.12185"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252078721834405 -2.09523372298598E-06 0.0110357108291391"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635989883" />
+      <inertia
+        ixx="2.60908300266976E-07"
+        ixy="5.76962570611223E-11"
+        ixz="4.02267180695593E-08"
+        iyy="2.33077671334709E-07"
+        iyz="-2.96096272324504E-11"
+        izz="1.26672570359743E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622482885686896 5.23444063671441E-06 0.0121505009269268"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314458634356863" />
+      <inertia
+        ixx="1.63947580158185E-07"
+        ixy="1.8140482358719E-11"
+        ixz="4.28773414343842E-08"
+        iyy="1.4836604901918E-07"
+        iyz="-2.02917234249237E-10"
+        izz="9.79320135710845E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..fe6aa6f
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/index_distal.STL
new file mode 100644
index 0000000..3687fee
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/index_middle.STL
new file mode 100644
index 0000000..2c6258e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/index_proximal.STL
new file mode 100644
index 0000000..f63a032
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/middle_distal.STL
new file mode 100644
index 0000000..aca2960
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/middle_middle.STL
new file mode 100644
index 0000000..5c6f798
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/middle_proximal.STL
new file mode 100644
index 0000000..234c2fb
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/pinky_distal.STL
new file mode 100644
index 0000000..9ea6727
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/pinky_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/pinky_middle.STL
new file mode 100644
index 0000000..6cbc6a3
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..734c4b2
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/ring_distal.STL
new file mode 100644
index 0000000..a9efa03
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/ring_middle.STL
new file mode 100644
index 0000000..afb7100
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/ring_proximal.STL
new file mode 100644
index 0000000..48fe472
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/ring_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_distal.STL
new file mode 100644
index 0000000..db0b1fc
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_metacarpals.STL
new file mode 100644
index 0000000..3f97010
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_metacarpals.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_metacarpals_base1.STL
new file mode 100644
index 0000000..d832906
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_metacarpals_base1.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_metacarpals_base2.STL
new file mode 100644
index 0000000..0f5d370
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_metacarpals_base2.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_proximal.STL
new file mode 100644
index 0000000..79391d5
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7_right/meshes/thumb_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/likerhand_o7v1_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/likerhand_o7v1_left.urdf
new file mode 100644
index 0000000..8ad8938
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/likerhand_o7v1_left.urdf
@@ -0,0 +1,1073 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="likerhand_o7_1_left.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0042500911837508 0.00085680978297864 0.0748400307377518"
+        rpy="0 0 0" />
+      <mass
+        value="0.225124072566834" />
+      <inertia
+        ixx="0.000307215791868368"
+        ixy="-2.62393594835236E-06"
+        ixz="-6.32980141818779E-06"
+        iyy="0.000204974944876431"
+        iyz="3.62195604578169E-06"
+        izz="0.000138551118704521" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0221868758326095 -9.48625995070285E-06 -0.00324883171979469"
+        rpy="0 0 0" />
+      <mass
+        value="0.0115244960032222" />
+      <inertia
+        ixx="3.08657221406028E-06"
+        ixy="2.39576891596808E-09"
+        ixz="3.1376074283793E-07"
+        iyy="4.37069643376973E-06"
+        iyz="1.08562146715063E-09"
+        izz="1.95654132689649E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.016939 -0.018427 0.057465"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.000732158506501421 -0.00116891771237498 -0.00114043413649958"
+        rpy="0 0 0" />
+      <mass
+        value="0.0194012482707974" />
+      <inertia
+        ixx="3.11023242394477E-06"
+        ixy="7.00345951479998E-07"
+        ixz="-3.45895864415883E-08"
+        iyy="2.43362631795933E-06"
+        iyz="5.55699212497148E-08"
+        izz="2.77691812675186E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.029224 0.00012028 0.0020117"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00175928357967789 5.98422066862003E-05 0.0251802708380432"
+        rpy="0 0 0" />
+      <mass
+        value="0.0177522528853587" />
+      <inertia
+        ixx="2.97620250609612E-06"
+        ixy="-1.75606406726447E-10"
+        ixz="8.88206077184725E-08"
+        iyy="4.02119583080426E-06"
+        iyz="-5.14340714112944E-10"
+        izz="1.61792798866592E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.015425 -0.024408 -0.0034929"
+      rpy="0 -1.1075 2.1313" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.5285"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134514656695575 -6.2245440023978E-06 0.0155657254696806"
+        rpy="0 0 0" />
+      <mass
+        value="0.00522318022645753" />
+      <inertia
+        ixx="9.25272679777908E-07"
+        ixy="8.8733597010757E-12"
+        ixz="1.11610235976856E-07"
+        iyy="8.23288983910426E-07"
+        iyz="-4.13122351934137E-11"
+        izz="4.09240194803836E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0049422 0 0.050268"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.186"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="2.24"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.0012828823583598 8.66398637835997E-06 0.0121296195661648"
+        rpy="0 0 0" />
+      <mass
+        value="0.0059927321340954" />
+      <inertia
+        ixx="3.54974702508419E-07"
+        ixy="2.25470558333717E-10"
+        ixz="1.02705988899827E-07"
+        iyy="3.68385773825653E-07"
+        iyz="5.55834292489291E-11"
+        izz="2.80219721351633E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.0040391 0 0.036444"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.256"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="2.38"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325184022307572 -5.73777268036979E-05 0.0195194519488432"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304918852223857" />
+      <inertia
+        ixx="2.70561430617686E-07"
+        ixy="4.04016903074442E-10"
+        ixz="3.98546481487138E-08"
+        iyy="2.61413228132876E-07"
+        iyz="1.27694129235523E-09"
+        izz="1.43213403424246E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0010899 -0.027484 0.1273"
+      rpy="0.017453 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220166605939472 0.000343544227875414 0.0115244041402905"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325826222115125" />
+      <inertia
+        ixx="2.84903328684065E-07"
+        ixy="-1.91220675187704E-09"
+        ixz="4.46236233645146E-08"
+        iyy="2.60287147871894E-07"
+        iyz="4.72747608453597E-09"
+        izz="1.33240305815556E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="0.000205192768436009 5.00807908632439E-05 0.0116640269704398"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386914599414329" />
+      <inertia
+        ixx="2.13092899098193E-07"
+        ixy="-4.43659936071928E-10"
+        ixz="4.32266496521949E-08"
+        iyy="2.07077941254489E-07"
+        iyz="3.00868537950707E-09"
+        izz="1.20295876651976E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325186288012639 -5.73454626350833E-05 0.0195195889004449"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304916574973766" />
+      <inertia
+        ixx="2.70554051207578E-07"
+        ixy="4.03711836861357E-10"
+        ixz="3.98537937936656E-08"
+        iyy="2.61406398624621E-07"
+        iyz="1.278882248156E-09"
+        izz="1.43213023085845E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0030759 -0.0081771 0.1323"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220166778232146 0.000343539248883085 0.0115243995791403"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325826090000982" />
+      <inertia
+        ixx="2.84903242801029E-07"
+        ixy="-1.91226349169516E-09"
+        ixz="4.46235974644869E-08"
+        iyy="2.60287108562876E-07"
+        iyz="4.72757371001898E-09"
+        izz="1.33240236728541E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="0.000205178072639707 5.00682687798182E-05 0.0116640598651227"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386915654397527" />
+      <inertia
+        ixx="2.13094283443978E-07"
+        ixy="-4.4383622725015E-10"
+        ixz="4.32271566193733E-08"
+        iyy="2.07079487486431E-07"
+        iyz="3.00914543235198E-09"
+        izz="1.20296117946962E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325188639109948 -5.73091636886791E-05 0.0195197425412056"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304914173423174" />
+      <inertia
+        ixx="2.70545905130282E-07"
+        ixy="4.03369804356248E-10"
+        ixz="3.98528630246444E-08"
+        iyy="2.61398848427869E-07"
+        iyz="1.28105530251793E-09"
+        izz="1.43212636885902E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0010899 0.01113 0.1273"
+      rpy="-0.017453 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220166573650245 0.000343543985173556 0.0115244051126353"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325826270162551" />
+      <inertia
+        ixx="2.8490335431282E-07"
+        ixy="-1.91220861885623E-09"
+        ixz="4.46236286956316E-08"
+        iyy="2.60287161545827E-07"
+        iyz="4.72747837494482E-09"
+        izz="1.3324032112194E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="0.000205171820409959 5.00624731339938E-05 0.0116640697629539"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386915820986361" />
+      <inertia
+        ixx="2.13094587693163E-07"
+        ixy="-4.43940590912624E-10"
+        ixz="4.32272330130178E-08"
+        iyy="2.07079828868233E-07"
+        iyz="3.00935119539752E-09"
+        izz="1.20296055752743E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325189370161746 -5.72983166947649E-05 0.0195197823487483"
+        rpy="0 0 0" />
+      <mass
+        value="0.0030491364649747" />
+      <inertia
+        ixx="2.70544107359494E-07"
+        ixy="4.03294066340961E-10"
+        ixz="3.98526745300938E-08"
+        iyy="2.61397222251281E-07"
+        iyz="1.28156767029427E-09"
+        izz="1.43212528194326E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00091015 0.030436 0.12229"
+      rpy="-0.034907 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.002201665613911 0.000343544066900431 0.0115244051215708"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325826278499646" />
+      <inertia
+        ixx="2.84903357062453E-07"
+        ixy="-1.91220937408046E-09"
+        ixz="4.46236295954511E-08"
+        iyy="2.60287165262845E-07"
+        iyz="4.72747841623595E-09"
+        izz="1.33240325394021E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.000205168748081741 5.00603283008771E-05 0.0116640796497016"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386915855597929" />
+      <inertia
+        ixx="2.1309463405403E-07"
+        ixy="-4.43985775170374E-10"
+        ixz="4.32272565907302E-08"
+        iyy="2.07079916973927E-07"
+        iyz="3.00952443609274E-09"
+        izz="1.20295986265221E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.7493"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..4bce1d7
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/index_distal.STL
new file mode 100644
index 0000000..f531771
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/index_middle.STL
new file mode 100644
index 0000000..e8a0fbe
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/index_proximal.STL
new file mode 100644
index 0000000..b34814e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/middle_distal.STL
new file mode 100644
index 0000000..0fb0ad0
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/middle_middle.STL
new file mode 100644
index 0000000..6913a0a
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/middle_proximal.STL
new file mode 100644
index 0000000..92ec987
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/pinky_distal.STL
new file mode 100644
index 0000000..0e3f91c
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/pinky_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/pinky_middle.STL
new file mode 100644
index 0000000..e5112a4
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..6643d29
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/ring_distal.STL
new file mode 100644
index 0000000..cd2cd55
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/ring_middle.STL
new file mode 100644
index 0000000..aa63904
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/ring_proximal.STL
new file mode 100644
index 0000000..f49490e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_distal.STL
new file mode 100644
index 0000000..e3511b7
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_metacarpals.STL
new file mode 100644
index 0000000..a233832
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_metacarpals_base1.STL
new file mode 100644
index 0000000..53326f8
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_metacarpals_base2.STL
new file mode 100644
index 0000000..7d01688
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_metacarpals_base2.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_proximal.STL
new file mode 100644
index 0000000..463afed
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_left/meshes/thumb_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/linkerhand_o7v1_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/linkerhand_o7v1_right.urdf
new file mode 100644
index 0000000..bc92bec
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/linkerhand_o7v1_right.urdf
@@ -0,0 +1,1073 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_o7_1_right.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00424649751371995 -0.000862887416275456 0.0748471792869467"
+        rpy="0 0 0" />
+      <mass
+        value="0.224993676691102" />
+      <inertia
+        ixx="0.000307116186491815"
+        ixy="2.61659725445651E-06"
+        ixz="-6.32446998312666E-06"
+        iyy="0.000204938622467429"
+        iyz="-3.62127144044683E-06"
+        izz="0.000138468169689365" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0221879177257061 9.4967413269316E-06 -0.00324810095386431"
+        rpy="0 0 0" />
+      <mass
+        value="0.0115249134895388" />
+      <inertia
+        ixx="3.08667102562358E-06"
+        ixy="-2.45862059608496E-09"
+        ixz="3.13556912700589E-07"
+        iyy="4.3709812224308E-06"
+        iyz="-1.09530666159332E-09"
+        izz="1.95667196495585E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.016939 0.018427 0.057465"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.785"
+      upper="0.785"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.000657101787937486 0.00104851154234433 -0.00113956081948991"
+        rpy="0 0 0" />
+      <mass
+        value="0.01940166650745" />
+      <inertia
+        ixx="3.11012438785897E-06"
+        ixy="-7.0034651782409E-07"
+        ixz="-3.44895601987918E-08"
+        iyy="2.43367257868183E-06"
+        iyz="-5.59175765565545E-08"
+        izz="2.77701874779203E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.4 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.0293 0 0.0020117"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00175933658915796 -5.96504126060375E-05 0.0251801046994234"
+        rpy="0 0 0" />
+      <mass
+        value="0.0177521108657244" />
+      <inertia
+        ixx="2.97617104670385E-06"
+        ixy="1.85044369912824E-10"
+        ixz="8.88003468597959E-08"
+        iyy="4.02115700293481E-06"
+        iyz="4.92419253103346E-10"
+        izz="1.61792154263255E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.01535 0.024288 -0.0034929"
+      rpy="0 -1.1075 -2.1313" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.5285"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134526311852616 6.07660660935025E-06 0.0155657696459344"
+        rpy="0 0 0" />
+      <mass
+        value="0.00522318738806682" />
+      <inertia
+        ixx="9.25274247600393E-07"
+        ixy="-1.65401508753502E-11"
+        ixz="1.11609876915452E-07"
+        iyy="8.23287363248585E-07"
+        iyz="5.43302131881219E-11"
+        izz="4.09241239147395E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0049422 0 0.050268"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.186"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="2.24"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00128308035650056 -8.24642944257173E-06 0.0121298668147546"
+        rpy="0 0 0" />
+      <mass
+        value="0.00599292590405824" />
+      <inertia
+        ixx="3.54987794133438E-07"
+        ixy="-2.17906247389587E-10"
+        ixz="1.02717341851269E-07"
+        iyy="3.68409426963011E-07"
+        iyz="-7.13047316865665E-11"
+        izz="2.80231280919996E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.0040391 0 0.036444"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.256"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_mcp"
+      multiplier="1.0625"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.0032518064346344 5.73435595726795E-05 0.0195194781444541"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304916039909536" />
+      <inertia
+        ixx="2.70564868706054E-07"
+        ixy="-4.09152820952322E-10"
+        ixz="3.98597505804528E-08"
+        iyy="2.61418458298347E-07"
+        iyz="-1.28012336147491E-09"
+        izz="1.4321431670118E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0010899 0.027484 0.1273"
+      rpy="-0.017453 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220167909176389 -0.000343531073618132 0.0115244069143184"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325825848442436" />
+      <inertia
+        ixx="2.8490415059528E-07"
+        ixy="1.91239904551334E-09"
+        ixz="4.46237082998526E-08"
+        iyy="2.60287200116906E-07"
+        iyz="-4.72652523980715E-09"
+        izz="1.33239580887688E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="0.000205003552135347 -5.00639376030902E-05 0.0116644517439974"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386935492598895" />
+      <inertia
+        ixx="2.13117220171242E-07"
+        ixy="4.48302439305257E-10"
+        ixz="4.32406381764883E-08"
+        iyy="2.07111508255759E-07"
+        iyz="-3.01875998154566E-09"
+        izz="1.20303603749287E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_pip"
+      multiplier="0.635"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325183237058274 5.73145378753642E-05 0.0195196141000392"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304913798747595" />
+      <inertia
+        ixx="2.70557098970273E-07"
+        ixy="-4.08865696672332E-10"
+        ixz="3.98586221422375E-08"
+        iyy="2.61411279054861E-07"
+        iyz="-1.28207051883436E-09"
+        izz="1.43213885368697E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0030759 0.0081771 0.1323"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.0022016810859708 -0.00034353700371422 0.0115244012272034"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325825654598412" />
+      <inertia
+        ixx="2.84904020576023E-07"
+        ixy="1.91233621961464E-09"
+        ixz="4.46236745273724E-08"
+        iyy="2.60287132912749E-07"
+        iyz="-4.72641985986877E-09"
+        izz="1.33239489502427E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="0.000205019804226589 -5.00611866558441E-05 0.0116644192481372"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386934334877093" />
+      <inertia
+        ixx="2.13115752186946E-07"
+        ixy="4.483082159401E-10"
+        ixz="4.32401705352848E-08"
+        iyy="2.07109947925868E-07"
+        iyz="-3.01874595073253E-09"
+        izz="1.20303477712343E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_pip"
+      multiplier="0.635"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325186150336549 5.72819703951039E-05 0.0195197725001552"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304911330763648" />
+      <inertia
+        ixx="2.70548036735914E-07"
+        ixy="-4.0855911209404E-10"
+        ixz="3.98573112742051E-08"
+        iyy="2.61402871079389E-07"
+        iyz="-1.28432896400596E-09"
+        izz="1.43213406344549E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.0010899 -0.01113 0.1273"
+      rpy="0.017453 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_mcp_pitch">
+    <inertial>
+      <origin
+        xyz="-0.00220167993906391 -0.000343532631468264 0.011524404583006"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325825753654453" />
+      <inertia
+        ixx="2.84904089242319E-07"
+        ixy="1.91238364678801E-09"
+        ixz="4.46236943743486E-08"
+        iyy="2.60287163833731E-07"
+        iyz="-4.72650146753522E-09"
+        izz="1.3323953829297E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_mcp_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_mcp_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_mcp_pitch" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="0.00020502111953178 -5.00522555418534E-05 0.0116644140374793"
+        rpy="0 0 0" />
+      <mass
+        value="0.00386934281745255" />
+      <inertia
+        ixx="2.13115701445735E-07"
+        ixy="4.48456879916902E-10"
+        ixz="4.32401093546838E-08"
+        iyy="2.0710990229611E-07"
+        iyz="-3.01905597511279E-09"
+        izz="1.20303442468631E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="ring_mcp_pitch" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_pip"
+      multiplier="0.635"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00325186921802022 5.72691083807614E-05 0.0195198130359342"
+        rpy="0 0 0" />
+      <mass
+        value="0.00304910473315458" />
+      <inertia
+        ixx="2.70545040885575E-07"
+        ixy="-4.08564381291383E-10"
+        ixz="3.98567341619965E-08"
+        iyy="2.61399944340109E-07"
+        iyz="-1.28504081306415E-09"
+        izz="1.4321321936584E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00091015 -0.030436 0.12229"
+      rpy="0.034907 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.325"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.00220167997180173 -0.000343532680715256 0.0115244045011695"
+        rpy="0 0 0" />
+      <mass
+        value="0.00325825750127338" />
+      <inertia
+        ixx="2.84904087000571E-07"
+        ixy="1.91238317094318E-09"
+        ixz="4.46236937859625E-08"
+        iyy="2.6028716260635E-07"
+        iyz="-4.72650084572289E-09"
+        izz="1.33239536763419E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0033727 0 0.03351"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.18"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.000205019995453311 -5.00474199050527E-05 0.0116644190987234"
+        rpy="0 0 0" />
+      <mass
+        value="0.003869344054523" />
+      <inertia
+        ixx="2.13115672247707E-07"
+        ixy="4.48523985073532E-10"
+        ixz="4.32401598937007E-08"
+        iyy="2.07109969850292E-07"
+        iyz="-3.01932182317644E-09"
+        izz="1.20303468559217E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0050438 0 0.025752"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_pip"
+      multiplier="0.635"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..38df479
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/hand_base_link.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/index_distal.STL
new file mode 100644
index 0000000..ff78165
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/index_middle.STL
new file mode 100644
index 0000000..4131b7c
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/index_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/index_proximal.STL
new file mode 100644
index 0000000..af9a7c3
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/middle_distal.STL
new file mode 100644
index 0000000..7d891e8
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/middle_middle.STL
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index 0000000..4ff71a0
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/middle_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/pinky_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/pinky_middle.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/pinky_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/ring_distal.STL
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index 0000000..a6877e7
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/ring_mcp_pitch.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/ring_mcp_pitch.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/ring_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v1_right/meshes/thumb_proximal.STL
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index 0000000..7837d9f
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/linkerhand_o7v3_left.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/linkerhand_o7v3_left.urdf
new file mode 100644
index 0000000..bcbf0e7
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/linkerhand_o7v3_left.urdf
@@ -0,0 +1,1073 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_O7_left.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000897326242450024 -0.000912910200583317 0.0725139361953409"
+        rpy="0 0 0" />
+      <mass
+        value="0.0961317016824249" />
+      <inertia
+        ixx="0.000102695669168065"
+        ixy="-4.31409372592166E-07"
+        ixz="-1.88110470378979E-06"
+        iyy="6.48454975844519E-05"
+        iyz="8.30780063139162E-07"
+        izz="4.84048917293055E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0284788894151386 0.00319256506714694 6.34018160309141E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.008458166602164" />
+      <inertia
+        ixx="1.40225525565718E-06"
+        ixy="-1.17424349448493E-07"
+        ixz="-2.44371914829917E-08"
+        iyy="9.81539909312112E-07"
+        iyz="7.1653181934508E-08"
+        izz="7.37573294246133E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0116 -0.018174 0.061651"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="0"
+      upper="1.0467"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00182516382933488 -0.00607106068295837 -0.000214940429845767"
+        rpy="0 0 0" />
+      <mass
+        value="0.00244725544623658" />
+      <inertia
+        ixx="1.15294300077379E-07"
+        ixy="5.29471769562756E-09"
+        ixz="1.13374323579654E-09"
+        iyy="9.92749908987612E-08"
+        iyz="-3.76194111844174E-09"
+        izz="6.88505588241704E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.0358 0.00065771 0.0001518"
+      rpy="0.22683 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.2037"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00183661017256971 3.49566626065695E-06 0.0269904788747289"
+        rpy="0 0 0" />
+      <mass
+        value="0.0152012572365745" />
+      <inertia
+        ixx="2.95371158081021E-06"
+        ixy="-4.54881278719267E-11"
+        ixz="1.58085781844444E-07"
+        iyy="3.84771656182606E-06"
+        iyz="-4.17660185279459E-10"
+        izz="1.32008384606666E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00456 -0.015168 -0.0019302"
+      rpy="0 -0.9163 1.8628" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.4867"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.00159261656614682 4.26271875718365E-06 0.0151572133876173"
+        rpy="0 0 0" />
+      <mass
+        value="0.00662223485589349" />
+      <inertia
+        ixx="1.01526067183447E-06"
+        ixy="6.57953741828722E-12"
+        ixz="4.42238344019023E-08"
+        iyy="9.10424298550283E-07"
+        iyz="-2.53232461107778E-11"
+        izz="4.47461469264052E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0061722 0 0.047968"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6699"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.38"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.0013880494999034 -1.94438553298426E-06 0.0115761189575842"
+        rpy="0 0 0" />
+      <mass
+        value="0.00512789763491093" />
+      <inertia
+        ixx="3.30786128125052E-07"
+        ixy="3.38117874372216E-10"
+        ixz="1.0468342808867E-07"
+        iyy="3.23606985378064E-07"
+        iyz="1.2456516130763E-10"
+        izz="2.48874226680203E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00017064 0 0.038665"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6611"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.36"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00123185123301241 -2.04548143356575E-06 0.0182404213309983"
+        rpy="0 0 0" />
+      <mass
+        value="0.00316246744707535" />
+      <inertia
+        ixx="3.57097105403266E-07"
+        ixy="-1.43145881561663E-11"
+        ixz="4.15201790411686E-08"
+        iyy="3.51905930878584E-07"
+        iyz="1.08480622774223E-10"
+        izz="1.40910674767013E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 -0.027177 0.12685"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252079745356534 2.18958247855117E-06 0.0110357094011752"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043920494194" />
+      <inertia
+        ixx="2.60908427607277E-07"
+        ixy="-5.76712864978736E-11"
+        ixz="4.02265931111058E-08"
+        iyy="2.33077518753956E-07"
+        iyz="2.86057149655759E-11"
+        izz="1.26672509764601E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622398114496395 -4.7582277233893E-06 0.0121501692675341"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314451965833553" />
+      <inertia
+        ixx="1.63942742295834E-07"
+        ixy="-1.95092189220806E-11"
+        ixz="4.2875333048186E-08"
+        iyy="1.48361206420248E-07"
+        iyz="1.96954369466669E-10"
+        izz="9.79298337097917E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00123185123301218 -2.04548143201144E-06 0.0182404213309955"
+        rpy="0 0 0" />
+      <mass
+        value="0.00316246744707548" />
+      <inertia
+        ixx="3.57097105403253E-07"
+        ixy="-1.43145881381195E-11"
+        ixz="4.15201790403923E-08"
+        iyy="3.51905930879004E-07"
+        iyz="1.0848062287058E-10"
+        izz="1.40910674767359E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 -0.0081771 0.13185"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252079745356536 2.18958247860668E-06 0.0110357094011748"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043920494191" />
+      <inertia
+        ixx="2.60908427607323E-07"
+        ixy="-5.76712865051872E-11"
+        ixz="4.02265931108534E-08"
+        iyy="2.33077518753998E-07"
+        iyz="2.86057149655804E-11"
+        izz="1.26672509764487E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622396956367996 -4.75547870656956E-06 0.0121501746972332"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452215229741" />
+      <inertia
+        ixx="1.63942843869602E-07"
+        ixy="-1.95108447882703E-11"
+        ixz="4.28753700914127E-08"
+        iyy="1.48361290039306E-07"
+        iyz="1.969296613704E-10"
+        izz="9.79299084563893E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_distal"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00123185123301686 -2.04548143697969E-06 0.0182404213310381"
+        rpy="0 0 0" />
+      <mass
+        value="0.00316246744706943" />
+      <inertia
+        ixx="3.57097105403003E-07"
+        ixy="-1.4314588154039E-11"
+        ixz="4.15201790411539E-08"
+        iyy="3.51905930878337E-07"
+        iyz="1.08480622702414E-10"
+        izz="1.40910674766989E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 0.010823 0.12685"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252079745356525 2.18958247852341E-06 0.011035709401175"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043920494193" />
+      <inertia
+        ixx="2.60908427607274E-07"
+        ixy="-5.76712865025782E-11"
+        ixz="4.02265931110629E-08"
+        iyy="2.3307751875386E-07"
+        iyz="2.86057149665485E-11"
+        izz="1.26672509764501E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.00062239705526124 -4.75697558710575E-06 0.0121501695601819"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452007951333" />
+      <inertia
+        ixx="1.63942748831931E-07"
+        ixy="-1.95201740096707E-11"
+        ixz="4.28753293231027E-08"
+        iyy="1.48361196403427E-07"
+        iyz="1.96957355280363E-10"
+        izz="9.79298505176024E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00123185123301017 -2.04548143162286E-06 0.018240421330975"
+        rpy="0 0 0" />
+      <mass
+        value="0.00316246744707885" />
+      <inertia
+        ixx="3.57097105403429E-07"
+        ixy="-1.43145881543455E-11"
+        ixz="4.15201790411223E-08"
+        iyy="3.51905930879021E-07"
+        iyz="1.08480622815274E-10"
+        izz="1.40910674767324E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 0.029823 0.12185"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252079745356543 2.18958247849566E-06 0.0110357094011744"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043920494193" />
+      <inertia
+        ixx="2.60908427607402E-07"
+        ixy="-5.76712865055921E-11"
+        ixz="4.02265931105376E-08"
+        iyy="2.33077518754123E-07"
+        iyz="2.8605714962065E-11"
+        izz="1.26672509764658E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622397234656704 -4.75744725214611E-06 0.0121501744713063"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314452214586484" />
+      <inertia
+        ixx="1.63942853705936E-07"
+        ixy="-1.95026824844707E-11"
+        ixz="4.28753747717248E-08"
+        iyy="1.48361304396804E-07"
+        iyz="1.96929872257974E-10"
+        izz="9.79299058734353E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..bb03464
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/index_distal.STL
new file mode 100644
index 0000000..91e3884
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/index_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/index_middle.STL
new file mode 100644
index 0000000..7724c51
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/index_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/index_proximal.STL
new file mode 100644
index 0000000..12c331e
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/index_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/middle_distal.STL
new file mode 100644
index 0000000..cbb926c
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/middle_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/middle_middle.STL
new file mode 100644
index 0000000..e9eedee
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/middle_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/middle_proximal.STL
new file mode 100644
index 0000000..663efcc
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/middle_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/pinky_distal.STL
new file mode 100644
index 0000000..91e3884
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/pinky_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/pinky_middle.STL
new file mode 100644
index 0000000..d881b40
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..3ed6faa
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/pinky_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/ring_distal.STL
new file mode 100644
index 0000000..741446b
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/ring_distal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/ring_middle.STL
new file mode 100644
index 0000000..7724c51
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/ring_middle.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/ring_proximal.STL
new file mode 100644
index 0000000..2e30249
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_metacarpals.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_metacarpals_base1.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_metacarpals_base2.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_left/meshes/thumb_proximal.STL
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/linkerhand_o7v3_right.urdf b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/linkerhand_o7v3_right.urdf
new file mode 100644
index 0000000..73df739
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/linkerhand_o7v3_right.urdf
@@ -0,0 +1,1074 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_O7_right.urdf">
+  <link
+    name="hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.000635826168353301 0.000417450601367603 0.0808531524968522"
+        rpy="0 0 0" />
+      <mass
+        value="0.115532510357281" />
+      <inertia
+        ixx="0.000103865728174833"
+        ixy="4.39968674525598E-07"
+        ixz="-1.9414168538026E-06"
+        iyy="6.66546428907319E-05"
+        iyz="-7.94731178870222E-07"
+        izz="4.97086581300188E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+        
+          rgba="0.443137254901961 1 0.803921568627451 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0243580400165841 -0.00531338959293788 -0.00133528896045803"
+        rpy="0 0 0" />
+      <mass
+        value="0.0140456690808547" />
+      <inertia
+        ixx="4.03793977591736E-06"
+        ixy="1.08071264191593E-07"
+        ixz="-2.78734178260313E-08"
+        iyy="1.52575111360524E-06"
+        iyz="-4.92003242238468E-07"
+        izz="2.85304047365918E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0116 0.018174 0.061651"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="1.0467"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
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+        ixz="3.23841467478572E-09"
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+        iyz="1.07600446113149E-08"
+        izz="1.76908032965576E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.0358 -0.00065771 0.0001518"
+      rpy="-0.22683 0 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.2037"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00183660291644091 -2.80954450064368E-06 0.0269905349664822"
+        rpy="0 0 0" />
+      <mass
+        value="0.0152012310446388" />
+      <inertia
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+        iyz="4.18612084772858E-10"
+        izz="1.32007529685639E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.4 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00456 0.015168 -0.0019302"
+      rpy="0 -0.9163 -1.8628" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.4867"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.00159270655316215 -4.43144050971817E-06 0.015157347405203"
+        rpy="0 0 0" />
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+        iyz="2.57876368384487E-11"
+        izz="4.47462819849415E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.6 0.6 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0061722 0 0.047968"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6699"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.38"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.00138915766541476 1.66356642710211E-06 0.0115789718721026"
+        rpy="0 0 0" />
+      <mass
+        value="0.00512930046605133" />
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+        ixy="-3.44976097634419E-10"
+        ixz="1.04731224452388E-07"
+        iyy="3.23805443196431E-07"
+        iyz="-8.20135516212249E-11"
+        izz="2.48902658161616E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.6 0.4 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_ip"
+    type="revolute">
+    <origin
+      xyz="-0.00017064 0 0.038665"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6611"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="thumb_cmc_pitch"
+      multiplier="1.36"
+      offset="0" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134757090763184 1.17149846208878E-06 0.0104816315652075"
+        rpy="0 0 0" />
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+        iyz="-8.5260366069422E-11"
+        izz="1.74228691388322E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 0.027177 0.12685"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
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+  <link
+    name="index_middle">
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+        rpy="0 0 0" />
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+        iyz="-2.96096272337229E-11"
+        izz="1.26672570359698E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622482641131194 5.23441917530537E-06 0.0121505004635115"
+        rpy="0 0 0" />
+      <mass
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+        ixx="1.63947556753414E-07"
+        ixy="1.81403035449352E-11"
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+        iyz="-2.02915923098469E-10"
+        izz="9.79320068649637E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="index_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134759525542065 1.17052495086315E-06 0.0104816256254227"
+        rpy="0 0 0" />
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+        iyz="-8.52796735517462E-11"
+        izz="1.74228809222635E-07" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 0.0081771 0.13185"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635989613" />
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+        iyy="2.33077671334844E-07"
+        iyz="-2.96096272996086E-11"
+        izz="1.26672570359912E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622482698909851 5.23446393570041E-06 0.0121505005518132"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314458619941957" />
+      <inertia
+        ixx="1.63947561150062E-07"
+        ixy="1.81411847381583E-11"
+        ixz="4.28773369786875E-08"
+        iyy="1.48366032281885E-07"
+        iyz="-2.0291733623418E-10"
+        izz="9.79320086242323E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="middle_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134757090654265 1.17149840283062E-06 0.0104816315647394"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982590560025" />
+      <inertia
+        ixx="4.43878633229728E-07"
+        ixy="-3.43445465421392E-12"
+        ixz="2.4938693441459E-08"
+        iyy="4.58697796493645E-07"
+        iyz="-8.52603686928918E-11"
+        izz="1.74228691390674E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.517647058823529 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 -0.010823 0.12685"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252078721834402 -2.09523372298771E-06 0.0110357108291391"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635989883" />
+      <inertia
+        ixx="2.60908300267002E-07"
+        ixy="5.76962570507088E-11"
+        ixz="4.02267180695887E-08"
+        iyy="2.3307767133472E-07"
+        iyz="-2.96096272352501E-11"
+        izz="1.26672570359684E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622482751969862 5.23452612019235E-06 0.0121505007069385"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314458625244518" />
+      <inertia
+        ixx="1.63947569170933E-07"
+        ixy="1.8141909382519E-11"
+        ixz="4.2877338243586E-08"
+        iyy="1.48366039100571E-07"
+        iyz="-2.0291967138065E-10"
+        izz="9.79320099040398E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.000134757090711979 1.17149839997527E-06 0.0104816315647464"
+        rpy="0 0 0" />
+      <mass
+        value="0.00654982590561137" />
+      <inertia
+        ixx="4.43878633231969E-07"
+        ixy="-3.43445483922012E-12"
+        ixz="2.49386934439635E-08"
+        iyy="4.58697796494382E-07"
+        iyz="-8.52603686898309E-11"
+        izz="1.7422869138941E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0022097 -0.029823 0.12185"
+      rpy="0 0 0" />
+    <parent
+      link="hand_base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.3275"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="-0.00252078721834405 -2.09523372298598E-06 0.0110357108291391"
+        rpy="0 0 0" />
+      <mass
+        value="0.00283043635989883" />
+      <inertia
+        ixx="2.60908300266976E-07"
+        ixy="5.76962570611223E-11"
+        ixz="4.02267180695593E-08"
+        iyy="2.33077671334709E-07"
+        iyz="-2.96096272324504E-11"
+        izz="1.26672570359743E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0010861 0 0.035634"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.7915"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.35"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.000622482885686896 5.23444063671441E-06 0.0121505009269268"
+        rpy="0 0 0" />
+      <mass
+        value="0.00314458634356863" />
+      <inertia
+        ixx="1.63947580158185E-07"
+        ixy="1.8140482358719E-11"
+        ixz="4.28773414343842E-08"
+        iyy="1.4836604901918E-07"
+        iyz="-2.02917234249237E-10"
+        izz="9.79320135710845E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.6 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052857 0 0.025703"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.6053"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="0.46"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/hand_base_link.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..fe6aa6f
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/index_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/index_distal.STL
new file mode 100644
index 0000000..3687fee
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/index_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/index_middle.STL
new file mode 100644
index 0000000..2c6258e
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/index_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/index_proximal.STL
new file mode 100644
index 0000000..f63a032
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/middle_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/middle_distal.STL
new file mode 100644
index 0000000..aca2960
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/middle_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/middle_middle.STL
new file mode 100644
index 0000000..5c6f798
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/middle_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/middle_proximal.STL
new file mode 100644
index 0000000..234c2fb
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/pinky_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/pinky_distal.STL
new file mode 100644
index 0000000..9ea6727
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/pinky_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/pinky_middle.STL
new file mode 100644
index 0000000..6cbc6a3
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/pinky_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..734c4b2
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/ring_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/ring_distal.STL
new file mode 100644
index 0000000..a9efa03
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/ring_middle.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/ring_middle.STL
new file mode 100644
index 0000000..afb7100
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/ring_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/ring_proximal.STL
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index 0000000..48fe472
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_distal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_distal.STL
new file mode 100644
index 0000000..db0b1fc
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_metacarpals.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_metacarpals.STL
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index 0000000..3f97010
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_metacarpals_base1.STL
new file mode 100644
index 0000000..d832906
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_metacarpals_base2.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_metacarpals_base2.STL
new file mode 100644
index 0000000..0f5d370
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diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_proximal.STL b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_proximal.STL
new file mode 100644
index 0000000..79391d5
Binary files /dev/null and b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/o7v3_right/meshes/thumb_proximal.STL differ
diff --git a/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/version.md b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/version.md
new file mode 100644
index 0000000..80dff26
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/version.md
@@ -0,0 +1,19 @@
+## v1.0.0.1 update，更新日期2025-03-31
+1. 调整linker_hand_l10_left拇指旋转角不当的问题，子版本号变更为1.0.0.1
+2. 调整linker_hand_l10_left无名指偏航角的大小，子版本号变更为1.0.0.2
+3. 调整linker_hand_l10_left小指偏航角的大小，子版本号变更为1.0.0.3
+4. linker_hand_l10_right的拇指旋转角处于异常状态，需结构重新设定，版本封存
+5. 调整linker_hand_l20_right拇指旋转角不当的问题，子版本号变更为1.0.0.1
+6. 调整linker_hand_l20_right拇指偏航角不当的问题，子版本号变更为1.0.0.2
+7. 调整linker_hand_t25_left四指横滚角不当的问题，子版本号变更为1.0.0.1
+
+## v1.0.0.0 create
+1. 版本创建
+2. 添加linker_hand_l10_left，版本号v1.6.7995.38578
+3. 添加linker_hand_l10_right，版本号v1.0.0
+4. 添加linker_hand_l20_left，版本号v1.0.0
+5. 添加linker_hand_l20_right，版本号v1.0.0
+6. 添加linker_hand_t25_left，版本号v1.0.0
+7. 添加linker_hand_t25_right，版本号v1.0.0
+8. 添加linker_hand_o7_left，版本号v1.0.0
+9. 添加linker_hand_o7_right，版本号v1.0.0
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/base_config.yml b/src/linkerhand_retarget/linkerhand_retarget/config/base_config.yml
new file mode 100644
index 0000000..0f864e6
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/base_config.yml
@@ -0,0 +1,56 @@
+calibration:
+  fist_extend_ratio: 0.5
+  show_fist: true
+debug:
+  joint_motor_debug_l: false
+  joint_motor_debug_r: false
+  joint_pub_debug: false
+  mapper_debug: false
+humanset:
+  bodyfile: body_unity_pose
+  targethandfile: human_hand_info
+linkereg:
+  password: i
+  port: null
+netpub:
+  ip: 192.168.11.33
+  port: 20008
+serial:
+  auto_scan: false
+  baudrates:
+  - 2000000
+  - 460800
+  - 1000000
+  - 921600
+  exclude_ports: []
+  left:
+    baudrate: 460800
+    port: /dev/ttyUSB1
+  right:
+    baudrate: 460800
+    port: /dev/ttyUSB0
+  serial_debug: false
+system:
+  can:
+    bitrate: 1000000
+    dofs: 25
+    id: 40
+  datasource_type: motion
+  leftpub: true
+  motion_device: eric
+  motion_type: linkerforce
+  retargeting_type: projection
+  rightpub: true
+  robotname_l: l10
+  robotname_r: l10
+  sapientype: left
+  usecan: false
+  usegui: false
+  usenetpub: false
+  usesapien: true
+  useudp: true
+  useudpserver: true
+udp:
+  ip: 0.0.0.0
+  port: 8888
+  serverport: 5551
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/body_custom_pose.yml b/src/linkerhand_retarget/linkerhand_retarget/config/body_custom_pose.yml
new file mode 100644
index 0000000..ccded40
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/body_custom_pose.yml
@@ -0,0 +1,69 @@
+initial_positions:
+  body:
+    - [0, 1, 0]
+    - [0.1, 0.9, 0]
+    - [0.1, 0.5, 0]
+    - [0.1, 0.09, 0]
+    - [0.1, 0.02, 0.07]
+    - [-0.1, 0.9,  0]
+    - [-0.1, 0.5,  0]
+    - [-0.1, 0.09, 0]
+    - [-0.1, 0.02, 0.07]
+    - [0, 1.05, 0]
+    - [0, 1.15, 0]
+    - [0, 1.2, 0]
+    - [0, 1.3, 0]
+    - [0, 1.392, 0]
+    - [0, 1.6, 0]
+    - [0.04, 1.392, 0]
+    - [0.1835, 1.392, 0]
+    - [0.4343, 1.392, 0]
+    - [0.6612, 1.392, 0]
+    - [-0.04, 1.392, 0]
+    - [-0.1835, 1.392, 0]
+    - [-0.4343, 1.392, 0]
+    - [-0.6612, 1.392, 0]
+  right_hand:
+    - [0.5000, 0.0000, 0.1000]
+    # - [0.5740, 0.0534, 0.0974]
+    - [0.5370, 0.0370, 0.0974]
+    - [0.5764, 0.0764, 0.0965]
+    - [0.5901, 0.0901, 0.0959]
+    - [0.5000, 0.0000, 0.1000]
+    - [0.6060, 0.0324, 0.0968]
+    - [0.6378, 0.0325, 0.0959]
+    - [0.6697, 0.0326, 0.0944]
+    - [0.5000, 0.0000, 0.1000]
+    - [0.6061, 0.0111, 0.0970]
+    - [0.6432, 0.0113, 0.0960]
+    - [0.6804, 0.0114, 0.0943]
+    - [0.5000, 0.0000, 0.1000]
+    - [0.6062, -0.0101, 0.0972]
+    - [0.6380, -0.0100, 0.0963]
+    - [0.6699, -0.0098, 0.0949]
+    - [0.5000, 0.0000, 0.1000]
+    - [0.6063, -0.0314, 0.0974]
+    - [0.6328, -0.0312, 0.0967]
+    - [0.6593, -0.0311, 0.0955]
+  left_hand:
+    - [-0.5000, 0.0000, 0.1000]
+    # - [0.5740, 0.0534, 0.0974]
+    - [-0.5370, 0.0370, 0.0974]
+    - [-0.5764, 0.0764, 0.0965]
+    - [-0.5901, 0.0901, 0.0959]
+    - [-0.5000, 0.0000, 0.1000]
+    - [-0.6060, 0.0324, 0.0968]
+    - [-0.6378, 0.0325, 0.0959]
+    - [-0.6697, 0.0326, 0.0944]
+    - [-0.5000, 0.0000, 0.1000]
+    - [-0.6061, 0.0111, 0.0970]
+    - [-0.6432, 0.0113, 0.0960]
+    - [-0.6804, 0.0114, 0.0943]
+    - [-0.5000, 0.0000, 0.1000]
+    - [-0.6062, -0.0101, 0.0972]
+    - [-0.6380, -0.0100, 0.0963]
+    - [-0.6699, -0.0098, 0.0949]
+    - [-0.5000, 0.0000, 0.1000]
+    - [-0.6063, -0.0314, 0.0974]
+    - [-0.6328, -0.0312, 0.0967]
+    - [-0.6593, -0.0311, 0.0955]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/body_unity_pose.yml b/src/linkerhand_retarget/linkerhand_retarget/config/body_unity_pose.yml
new file mode 100644
index 0000000..ed18e66
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/body_unity_pose.yml
@@ -0,0 +1,67 @@
+initial_positions:
+  body:
+    - [0, 1.01417, -0.01136745]
+    - [0.09608424, 0.9339905, -0.01918257]
+    - [0.1070137, 0.5183502, -0.03298733]
+    - [0.1029733, 0.09305052, -0.03527176]
+    - [0.1029734, 0.02005178, 0.07543653]
+    - [-0.09608424, 0.9339905, -0.01918257]
+    - [-0.1070137, 0.5183502, -0.03298733]
+    - [-0.1029733, 0.09305052, -0.03527176]
+    - [-0.1029734, 0.02005178, 0.07543653]
+    - [1.610145E-15, 1.101661, -0.01136744]
+    - [-1.967892E-16, 1.204164, -0.01136744]
+    - [1.722054E-16, 1.313723, -0.01136744]
+    - [3.313691E-17, 1.420459, 2.017152E-09]
+    - [1.412962E-16, 1.530355, -0.01136744]
+    - [-1.426205E-16, 1.62144, -0.01136744]
+    - [0.04465847, 1.45745, -0.01136743]
+    - [0.1871382, 1.45745, -0.01136743]
+    - [0.4227339, 1.45745, -0.01136743]
+    - [0.6813283, 1.45745, -0.01136743]
+    - [-0.04465845, 1.457453, -0.01136744]
+    - [-0.1871379, 1.457453, -0.01136744]
+    - [-0.4227338, 1.457453, -0.01136744]
+    - [-0.6813283, 1.457453, -0.01136744]
+  right_hand:
+    - [0.6813, 1.4575, -0.0114]
+    - [0.7121, 1.4598, 0.0272]
+    - [0.7444, 1.4597, 0.0592]
+    - [0.7669, 1.4598, 0.0815]
+    - [0.6813, 1.4575, -0.0114]
+    - [0.7857, 1.4626, 0.0254]
+    - [0.8304, 1.4604, 0.0255]
+    - [0.8557, 1.4589, 0.0255]
+    - [0.6813, 1.4575, -0.0114]
+    - [0.7871, 1.4628, 0.0019]
+    - [0.8358, 1.4595, 0.0017]
+    - [0.8663, 1.4571, 0.0018]
+    - [0.6813, 1.4575, -0.0114]
+    - [0.7802, 1.4639, -0.0189]
+    - [0.8226, 1.4599, -0.0188]
+    - [0.8520, 1.4573, -0.0189]
+    - [0.6813, 1.4575, -0.0114]
+    - [0.7716, 1.4629, -0.0397]
+    - [0.8056, 1.4611, -0.0398]
+    - [0.8270, 1.4594, -0.0398]
+  left_hand:
+    - [-0.6813, 1.4575, -0.0114]
+    - [-0.7121, 1.4598, 0.0272]
+    - [-0.7444, 1.4599, 0.0593]
+    - [-0.7666, 1.4598, 0.0817]
+    - [-0.6813, 1.4575, -0.0114]
+    - [-0.7857, 1.4626, 0.0254]
+    - [-0.8304, 1.4604, 0.0253]
+    - [-0.8557, 1.4588, 0.0254]
+    - [-0.6813, 1.4575, -0.0114]
+    - [-0.7871, 1.4628, 0.0019]
+    - [-0.8358, 1.4595, 0.0017]
+    - [-0.8663, 1.4571, 0.0019]
+    - [-0.6813, 1.4575, -0.0114]
+    - [-0.7802, 1.4639, -0.0189]
+    - [-0.8226, 1.4606, -0.0189]
+    - [-0.8521, 1.4585, -0.0189]
+    - [-0.6813, 1.4575, -0.0114]
+    - [-0.7716, 1.4629, -0.0397]
+    - [-0.8056, 1.4611, -0.0396]
+    - [-0.8270, 1.4594, -0.0397]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/calibration_sample.yml b/src/linkerhand_retarget/linkerhand_retarget/config/calibration_sample.yml
new file mode 100644
index 0000000..4de87ac
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/calibration_sample.yml
@@ -0,0 +1,133 @@
+jointanglefist_l:
+- 1.2437261653212208
+- 3.175084430630538
+- 1.9181389961835325
+- 3.945504443472827
+- 3.176513677347769
+- 4.15470097472291
+- 1.2220743742244509
+- 5.559884890958649
+- 4.359119825243289
+- 4.092220656591438
+- 1.191495397918279
+- 5.462992890591046
+- 4.491218635943924
+- 4.200856485664777
+- 1.3686122344439422
+- 4.9037060043950795
+- 3.9838837108819094
+- 4.308879495669112
+- 0.9698557684365023
+- 5.547674363135352
+- 4.032751679729586
+jointanglefist_r:
+- 1.1044308306023618
+- 1.5951796058121013
+- 3.6276991375224035
+- 5.47734400510711
+- 5.116904467934635
+- 2.794897842149621
+- 4.45722081173913
+- 2.6553320763879045
+- 5.816282943026772
+- 2.7213461356079076
+- 4.369521194059152
+- 2.451310885672715
+- 7.396954804596076
+- 2.7479907704823434
+- 4.328249766846534
+- 2.4081802807772505
+- 5.57164877596065
+- 2.7861285486955643
+- 4.76350470576917
+- 2.774348560437687
+- 5.953534512596457
+jointangleopose_l:
+- 1.2793574933684364
+- 3.483006318161248
+- 2.331541885879661
+- 3.7824928786437844
+- 2.970712731931335
+- 4.142190635278191
+- 1.7971720165469458
+- 5.247289642697985
+- 3.4463685780825344
+- 4.100680552379041
+- 1.7967017729109331
+- 5.190892714154727
+- 3.604353676476713
+- 4.174859433782973
+- 1.925651520397901
+- 4.825046277195627
+- 3.3016353177490636
+- 4.293594016705458
+- 1.5552237533819402
+- 5.241486378132036
+- 3.3450599532328815
+jointangleopose_r:
+- 1.2290999401142237
+- 1.3007013686522553
+- 3.402433098354701
+- 5.014432913946464
+- 4.331938085144293
+- 2.7775602287644148
+- 4.012928856914155
+- 2.487202411250892
+- 5.0280960910012995
+- 2.723595482905546
+- 3.923280471696764
+- 2.3498730343038363
+- 4.931762287623787
+- 2.734774309055077
+- 3.834016447185085
+- 2.2936636508756503
+- 4.818287076901581
+- 2.743915917282852
+- 4.166702619233486
+- 2.545942118281719
+- 5.167868347521494
+jointangleoriginal_l:
+- 1.3506201494628678
+- 4.098850093222668
+- 3.1583476652719176
+- 3.456469748985699
+- 2.559110841098467
+- 4.1171699563887545
+- 2.9473673011919357
+- 4.622099146176655
+- 1.620866083761026
+- 4.117600343954245
+- 3.0071145228962415
+- 4.646692361282089
+- 1.8306237575422901
+- 4.122865330019365
+- 3.0397300923058186
+- 4.6677268227967215
+- 1.9371385314833716
+- 4.263023058778151
+- 2.725959723272816
+- 4.6291104081254035
+- 1.9696765002394736
+jointangleoriginal_r:
+- 1.4784381591379478
+- 0.7117448943325635
+- 2.9519010200192963
+- 4.088610731625172
+- 2.7620053195636087
+- 2.742885001994002
+- 3.124344947264206
+- 2.1509430809768673
+- 3.451722386950354
+- 2.7280941775008234
+- 3.0307990269719896
+- 2.146997331566079
+- 0.0013772536792077154
+- 2.7083413862005443
+- 2.845549807862187
+- 2.0646303910724497
+- 3.3115636787834424
+- 2.6594906544574264
+- 2.9730984461621164
+- 2.0891292339697816
+- 3.5965360173715664
+timestamp: '2026-03-24T16:59:53.113578'
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/hand_config.yml b/src/linkerhand_retarget/linkerhand_retarget/config/hand_config.yml
new file mode 100644
index 0000000..8e32e01
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/hand_config.yml
@@ -0,0 +1,112 @@
+commandlower_right_l10: [255, 255, 255, 255, 255, 255, 255, 0, 0, 255, None, None, None, None, None, None, None, None, None, None]
+commandupper_right_l10: [0, 0, 0, 0, 0, 0, 0, 255, 255, 0, None, None, None, None, None, None, None, None, None, None]
+commandlower_left_l10: [255, 255, 255, 255, 255, 255, 0, 255, 255, 255, None, None, None, None, None, None, None, None, None, None]
+commandupper_left_l10: [0, 0, 0, 0, 0, 0, 255, 0, 0, 0, None, None, None, None, None, None, None, None, None, None]
+commandlower_right_l10v7: [255, 255, 255, 255, 255, 255, 255, 0, 0, 255, None, None, None, None, None, None, None, None, None, None]
+commandupper_right_l10v7: [0, 0, 0, 0, 0, 0, 0, 255, 255, 0, None, None, None, None, None, None, None, None, None, None]
+commandlower_left_l10v7: [255, 255, 255, 255, 255, 255, 0, 255, 255, 255, None, None, None, None, None, None, None, None, None, None]
+commandupper_left_l10v7: [0, 0, 0, 0, 0, 0, 255, 0, 0, 0, None, None, None, None, None, None, None, None, None, None]
+commandlower_right_t25: [255, 255, 255, 255, 255, 0, 255, None, 0, 0, 255, None, None, None, None, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255]
+commandupper_right_t25: [0, 0, 0, 0, 0, 255, 0, None, 255, 255, 0, None, None, None, None, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+commandlower_left_t25: [0, 255, 255, 255, 255, 255, 0, None, 255, 255, 0, None, None, None, None, 0, 255, 255, 255, 255, 0, 255, 255, 255, 255]
+commandupper_left_t25: [255, 0, 0, 0, 0, 0, 255, None, 0, 0, 255, None, None, None, None, 255, 0, 0, 0, 0, 255, 0, 0, 0, 0]
+commandlower_right_l20: [255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandupper_right_l20: [0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 0, None, None, None, None, 0, 0, 0, 0, 0]
+commandlower_left_l20: [255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandupper_left_l20: [0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 0, None, None, None, None, 0, 0, 0, 0, 0] 
+commandlower_right_g20: [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandupper_right_g20: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, None, None, None, None, 0, 0, 0, 0, 0]
+commandlower_left_g20: [255, 255, 255, 255, 255, 0, 0, 0, 0, 0, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandupper_left_g20: [0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 0, None, None, None, None, 0, 0, 0, 0, 0] 
+commandlower_right_l7: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_right_l7: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_left_l7: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_left_l7: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_right_o7: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_right_o7: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_left_o7: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_left_o7: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_right_o7v1: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_right_o7v1: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_left_o7v1: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_left_o7v1: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_right_o7v3: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_right_o7v3: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_left_o7v3: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_left_o7v3: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_right_l25: [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandupper_right_l25: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, None, None, None, None, 0, 0, 0, 0, 0]
+commandlower_left_l25: [255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandupper_left_l25: [0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 0, None, None, None, None, 0, 0, 0, 0, 0] 
+commandlower_right_l21: [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, None, None, None, None, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandupper_right_l21: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, None, None, None, None, 0, None, None, None, None, 0, 0, 0, 0, 0]
+commandlower_left_l21: [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, None, None, None, None, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandupper_left_l21: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, None, None, None, None, 0, None, None, None, None, 0, 0, 0, 0, 0]
+commandlower_right_l6: [255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_right_l6: [0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_left_l6: [255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_left_l6: [0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_right_o6: [255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_right_o6: [0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_left_o6: [255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_left_o6: [0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_right_o6v1: [255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_right_o6v1: [0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandlower_left_o6v1: [255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandupper_left_o6v1: [0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_right_l20: [18, 1, 9, 13, 5, 16, 0, 8, 12, 4, 17, None, None, None, None, 19, 2, 10, 14, 6]
+commandsourcedataindex_left_l20:  [18, 1, 9, 13, 5, 16, 0, 8, 12, 4, 17, None, None, None, None, 19, 2, 10, 14, 6]
+commandsourcedataindex_right_g20: [18, 1, 9, 13, 5, 16, 0, 8, 12, 4, 17, None, None, None, None, 19, 2, 10, 14, 6]
+commandsourcedataindex_left_g20:  [18, 1, 9, 13, 5, 16, 0, 8, 12, 4, 17, None, None, None, None, 19, 2, 10, 14, 6]
+commandsourcedataindex_right_l10: [20, 17, 1, 9, 13, 5, 0, 12, 4, 16, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_left_l10: [20, 17, 1, 9, 13, 5, 0, 12, 4, 16, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_right_l10v7: [20, 17, 1, 9, 13, 5, 0, 12, 4, 16, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_left_l10v7: [20, 17, 1, 9, 13, 5, 0, 12, 4, 16, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_right_t25: [18, 1, 9, 13, 5, 17, 0, None, 12, 4, 16, None, None, None, None, 19, 2, 10, 14, 6, 20, 3, 11, 15, 7]
+commandsourcedataindex_left_t25:  [18, 1, 9, 13, 5, 17, 0, None, 12, 4, 16, None, None, None, None, 19, 2, 10, 14, 6, 20, 3, 11, 15, 7]
+commandsourcedataindex_right_l7: [20, 17, 1, 9, 13, 5, 16, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_left_l7: [20, 17, 1, 9, 13, 5, 16, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_right_o7: [20, 17, 1, 9, 13, 5, 16, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_left_o7: [20, 17, 1, 9, 13, 5, 16, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_right_o7v1: [20, 17, 1, 9, 13, 5, 16, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_left_o7v1: [20, 17, 1, 9, 13, 5, 16, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_right_o7v3: [20, 17, 1, 9, 13, 5, 16, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_left_o7v3: [20, 17, 1, 9, 13, 5, 16, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_right_l25: [18, 1, 9, 13, 5, 16, 0, 8, 12, 4, 17, None, None, None, None, 19, 2, 10, 14, 6]
+commandsourcedataindex_left_l25:  [18, 1, 9, 13, 5, 16, 0, 8, 12, 4, 17, None, None, None, None, 19, 2, 10, 14, 6]
+commandsourcedataindex_right_l21: [18, 1, 9, 13, 5, 17, 0, 8, 12, 4, 16, None, None, None, None, 19, None, None, None, None, 20, 3, 11, 15, 7]
+commandsourcedataindex_left_l21:  [18, 1, 9, 13, 5, 17, 0, 8, 12, 4, 16, None, None, None, None, 19, None, None, None, None, 20, 3, 11, 15, 7]
+commandsourcedataindex_right_l6: [20, 17, 1, 9, 13, 5, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_left_l6: [20, 17, 1, 9, 13, 5, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_right_o6: [20, 17, 1, 9, 13, 5, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_left_o6: [20, 17, 1, 9, 13, 5, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_right_o6v1: [20, 17, 1, 9, 13, 5, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+commandsourcedataindex_left_o6v1: [20, 17, 1, 9, 13, 5, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_right_l20: [2, 6, 10, 14, 18, 0, 5, 9, 13, 17, 1, None, None, None, None, 3, 7, 11, 15, 19]
+urdfdataindex_left_l20:  [2, 6, 10, 14, 18, 0, 5, 9, 13, 17, 1, None, None, None, None, 3, 7, 11, 15, 19]
+urdfdataindex_right_g20: [2, 6, 10, 14, 18, 0, 5, 9, 13, 17, 1, None, None, None, None, 3, 7, 11, 15, 19]
+urdfdataindex_left_g20:  [2, 6, 10, 14, 18, 0, 5, 9, 13, 17, 1, None, None, None, None, 3, 7, 11, 15, 19]
+urdfdataindex_right_l25: [2, 6, 10, 14, 18, 0, 5, 9, 13, 17, 1, None, None, None, None, 3, 7, 11, 15, 19]
+urdfdataindex_left_l25:  [2, 6, 10, 14, 18, 0, 5, 9, 13, 17, 1, None, None, None, None, 3, 7, 11, 15, 19]
+urdfdataindex_right_l7: [4, 1, 5, 8, 11, 14, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_left_l7:  [4, 1, 5, 8, 11, 14, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_right_o7: [4, 1, 5, 8, 11, 14, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_left_o7:  [4, 1, 5, 8, 11, 14, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_right_o7v1: [4, 1, 5, 8, 11, 14, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_left_o7v1:  [4, 1, 5, 8, 11, 14, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_right_o7v3: [4, 1, 5, 8, 11, 14, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_left_o7v3:  [4, 1, 5, 8, 11, 14, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_right_l10: [4, 1, 6, 9, 13, 17, 5, 12, 16, 0, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_left_l10:  [4, 1, 6, 9, 13, 17, 5, 12, 16, 0, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_right_l10v7: [4, 1, 6, 9, 13, 17, 5, 12, 16, 0, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_left_l10v7:  [4, 1, 6, 9, 13, 17, 5, 12, 16, 0, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_right_t25: [2, 6, 9, 13, 17, 1, 5, None, 12, 16, 0, None, None, None, None, 3, 7, 10, 14, 18, 4, 8, 11, 15, 19]
+urdfdataindex_left_t25:  [2, 6, 9, 13, 17, 1, 5, None, 12, 16, 0, None, None, None, None, 3, 7, 10, 14, 18, 4, 8, 11, 15, 19]
+urdfdataindex_right_l21: [14, 1, 4, 7, 10, 13, 0, 3, 6, 9, 12, None, None, None, None, 15, None, None, None, None, 16, 2, 5, 8, 11]
+urdfdataindex_left_l21:  [14, 1, 4, 7, 10, 13, 0, 3, 6, 9, 12, None, None, None, None, 15, None, None, None, None, 16, 2, 5, 8, 11]
+urdfdataindex_right_l6: [1, 0, 3, 5, 7, 9, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_left_l6:  [1, 0, 3, 5, 7, 9, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_right_o6: [1, 0, 3, 5, 7, 9, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_left_o6:  [1, 0, 3, 5, 7, 9, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_right_o6v1: [1, 0, 3, 5, 7, 9, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
+urdfdataindex_left_o6v1:  [1, 0, 3, 5, 7, 9, None, None, None, None, None, None, None, None, None, None, None, None, None, None]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/human_hand_info.yml b/src/linkerhand_retarget/linkerhand_retarget/config/human_hand_info.yml
new file mode 100644
index 0000000..2918085
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/human_hand_info.yml
@@ -0,0 +1,53 @@
+initial_positions:
+  right_hand:
+    - [0.00000, 0.00000, 0.00000]
+    - [0.03380, 0.04230, 0.00000]
+    - [0.06920, 0.07760, 0.00000]
+    - [0.09370, 0.10220, 0.00000]
+    - [0.11820, 0.12680, 0.00000]
+    - [0.04380, 0.02680, 0.00000]
+    - [0.11460, 0.04040, 0.00000]
+    - [0.16370, 0.04040, 0.00000]
+    - [0.19150, 0.04040, 0.00000]
+    - [0.21750, 0.04040, 0.00000]
+    - [0.04590, 0.01030, 0.00000]
+    - [0.11610, 0.01450, 0.00000]
+    - [0.16960, 0.01450, 0.00000]
+    - [0.20310, 0.01450, 0.00000]
+    - [0.22910, 0.01450, 0.00000]
+    - [0.04570, -0.00180, 0.00000]
+    - [0.10860, -0.00830, 0.00000]
+    - [0.15520, -0.00830, 0.00000]
+    - [0.18750, -0.00830, 0.00000]
+    - [0.21350, -0.00830, 0.00000]
+    - [0.04290, -0.01630, 0.00000]
+    - [0.09910, -0.03110, 0.00000]
+    - [0.13650, -0.03110, 0.00000]
+    - [0.16000, -0.03110, 0.00000]
+    - [0.18600, -0.03110, 0.00000]
+  left_hand:
+    - [0.00000, 0.00000, 0.00000]
+    - [-0.03380, 0.04230, 0.00000]
+    - [-0.06920, 0.07760, 0.00000]
+    - [-0.09370, 0.10220, 0.00000]
+    - [-0.11820, 0.12680, 0.00000]
+    - [-0.04380, 0.02680, 0.00000]
+    - [-0.11460, 0.04040, 0.00000]
+    - [-0.16370, 0.04040, 0.00000]
+    - [-0.19150, 0.04040, 0.00000]
+    - [-0.21750, 0.04040, 0.00000]
+    - [-0.04590, 0.01030, 0.00000]
+    - [-0.11610, 0.01450, 0.00000]
+    - [-0.16960, 0.01450, 0.00000]
+    - [-0.20310, 0.01450, 0.00000]
+    - [-0.22910, 0.01450, 0.00000]
+    - [-0.04570, -0.00180, 0.00000]
+    - [-0.10860, -0.00830, 0.00000]
+    - [-0.15520, -0.00830, 0.00000]
+    - [-0.18750, -0.00830, 0.00000]
+    - [-0.21350, -0.00830, 0.00000]
+    - [-0.04290, -0.01630, 0.00000]
+    - [-0.09910, -0.03110, 0.00000]
+    - [-0.13650, -0.03110, 0.00000]
+    - [-0.16000, -0.03110, 0.00000]
+    - [-0.18600, -0.03110, 0.00000]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/linker_hand_info.yml b/src/linkerhand_retarget/linkerhand_retarget/config/linker_hand_info.yml
new file mode 100644
index 0000000..e12a786
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/linker_hand_info.yml
@@ -0,0 +1,289 @@
+initial_positions:
+#  right_hand:
+#    - [0.00000, 0.00000, 0.00000]
+#    - [0.03380, 0.04230, 0.00000]
+#    - [0.06920, 0.07760, 0.00000]
+#    - [0.09370, 0.10220, 0.00000]
+#    - [0.11820, 0.12680, 0.00000]
+#    - [0.04380, 0.02680, 0.00000]
+#    - [0.11460, 0.04040, 0.00000]
+#    - [0.16370, 0.04040, 0.00000]
+#    - [0.19150, 0.04040, 0.00000]
+#    - [0.21750, 0.04040, 0.00000]
+#    - [0.04590, 0.01030, 0.00000]
+#    - [0.11610, 0.01450, 0.00000]
+#    - [0.16960, 0.01450, 0.00000]
+#    - [0.20310, 0.01450, 0.00000]
+#    - [0.22910, 0.01450, 0.00000]
+#    - [0.04570, -0.00180, 0.00000]
+#    - [0.10860, -0.00830, 0.00000]
+#    - [0.15520, -0.00830, 0.00000]
+#    - [0.18750, -0.00830, 0.00000]
+#    - [0.21350, -0.00830, 0.00000]
+#    - [0.04290, -0.01630, 0.00000]
+#    - [0.09910, -0.03110, 0.00000]
+#    - [0.13650, -0.03110, 0.00000]
+#    - [0.16000, -0.03110, 0.00000]
+#    - [0.18600, -0.03110, 0.00000]
+  right_hand:
+    l16_3: # l20_8_右手
+      - [ 0.0, 0.0, 0.0 ]
+      - [ 0.013, 0.041, 0.008 ]
+      - [ 0.015, 0.058, -0.002 ]
+      - [ 0.048, 0.086, -0.002 ]
+      - [ 0.092, 0.127, 0.008 ]
+      - [ 0.073, 0.032, -0.012 ]
+      - [ 0.082, 0.041, -0.003 ]
+      - [ 0.126, 0.041, 0.0 ]
+      - [ 0.170, 0.041, 0.0 ]
+      - [ 0.209, 0.032, 0.0 ]
+      - [ 0.073, 0.0, -0.012 ]
+      - [ 0.082, 0.009, -0.003 ]
+      - [ 0.126, 0.009, 0.0 ]
+      - [ 0.170, 0.009, 0.0 ]
+      - [ 0.209, 0.0, 0.0 ]
+      - [ 0.073, -0.032, -0.012 ]
+      - [ 0.082, -0.023, -0.003 ]
+      - [ 0.126, -0.023, 0.0 ]
+      - [ 0.170, -0.023, 0.0 ]
+      - [ 0.209, -0.033, 0.0 ]
+      - [ 0.073, -0.064, -0.012 ]
+      - [ 0.082, -0.055, -0.003 ]
+      - [ 0.126, -0.055, 0.0 ]
+      - [ 0.170, -0.055, 0.0 ]
+      - [ 0.209, -0.064, 0.0 ]
+    l20_8: # l20_8_右手
+      - [0.0, 0.0, 0.0]
+      - [0.0490, 0.0080, -0.0220]
+      - [0.1210, 0.0560, -0.0320]
+      - [0.1490, 0.0760, -0.0190]
+      - [0.1690, 0.1000, -0.0230]
+      - [0.1540, 0.0270, 0.0290]
+      - [0.1540, 0.0310, 0.0150]
+      - [0.1990, 0.0290, 0.0180]
+      - [0.2300, 0.0350, 0.0100]
+      - [0.2550, 0.0270, 0.0230]
+      - [0.1590, 0.0050, 0.0330]
+      - [0.1590, 0.0100, 0.0190]
+      - [0.2040, 0.0070, 0.0230]
+      - [0.2340, 0.0130, 0.0150]
+      - [0.2590, 0.0060, 0.0280]
+      - [0.1540, -0.0170, 0.0310]
+      - [0.1540, -0.0120, 0.0170]
+      - [0.1990, -0.0140, 0.0210]
+      - [0.2300, -0.0090, 0.0120]
+      - [0.2550, -0.0160, 0.0260]
+      - [0.1450, -0.0380, 0.0270]
+      - [0.1450, -0.0330, 0.0140]
+      - [0.1900, -0.0360, 0.0170]
+      - [0.2210, -0.0300, 0.0090]
+      - [0.2460, -0.0380, 0.0220]
+    l20_6t:                           # l20_6t_右手
+      - [0.0, 0.0, 0.0]
+      - [0.0862, 0.0285, -0.0259]
+      - [0.1505, 0.0810, -0.0359]
+      - [0.1722, 0.1079, -0.0338]
+      - [0.1920, 0.1248, -0.0338]
+      - [0.1827, 0.0267, 0.0231]
+      - [0.1827, 0.0219, 0.0127]
+      - [0.2275, 0.0212, 0.0169]
+      - [0.2592, 0.0189, 0.0136]
+      - [0.2827, 0.0189, 0.0331]
+      - [0.1872, 0.0051, 0.0278]
+      - [0.1872, -0.0003, 0.0174]
+      - [0.2320, -0.0004, 0.0216]
+      - [0.2637, -0.0027, 0.0183]
+      - [0.2872, -0.0027, 0.0378]
+      - [0.1827, -0.0165, 0.0255]
+      - [0.1827, -0.0213, 0.0151]
+      - [0.2275, -0.0220, 0.0193]
+      - [0.2592, -0.0243, 0.0160]
+      - [0.2827, -0.0243, 0.0355]
+      - [0.1782, -0.0381, 0.0219]
+      - [0.1782, -0.0429, 0.0115]
+      - [0.2230, -0.0436, 0.0157]
+      - [0.2547, -0.0459, 0.0124]
+      - [0.2782, -0.0459, 0.0319]
+    l10_6: # l10_6右手
+      - [0.0, 0.0, 0.0]
+      - [0.085, 0.047, -0.013]
+      - [0.128, 0.075, -0.014]
+      - [0.154, 0.099, -0.009]
+      - [0.168, 0.123, -0.001]
+      - [0.158, 0.023, -0.012]
+      - [0.176, 0.031, 0.001]
+      - [0.209, 0.028, 0.006]
+      - [0.234, 0.028, 0.016]
+      - [0.256, 0.024, 0.031]
+      - [0.181, 0.012, 0.003]
+      - [0.181, 0.012, 0.003]
+      - [0.214, 0.009, 0.008]
+      - [0.239, 0.009, 0.018]
+      - [0.261, 0.005, 0.033]
+      - [0.158, -0.015, -0.012]
+      - [0.176, -0.007, 0.001]
+      - [0.209, -0.010, 0.006]
+      - [0.234, -0.010, 0.016]
+      - [0.256, -0.014, 0.031]
+      - [0.153, -0.034, -0.014]
+      - [0.171, -0.026, -0.001]
+      - [0.204, -0.029, 0.004]
+      - [0.229, -0.029, 0.014]
+      - [0.251, -0.033, 0.029]
+    t24_1: # t24_1_右手
+      - [0, 0, 0]
+      - [0.0680, 0.0210, -0.0100]
+      - [0.1020, 0.0430, -0.0120]
+      - [0.1360, 0.0700, -0.0220]
+      - [0.1620, 0.1030, -0.0400]
+      - [0.1340, 0.0340, -0.0140]
+      - [0.1510, 0.0360, -0.0080]
+      - [0.1930, 0.0400, -0.0080]
+      - [0.2370, 0.0400, -0.0060]
+      - [0.2820, 0.0340, 0.0050]
+      - [0.1420, 0.0110, -0.0140]
+      - [0.1590, 0.0140, -0.0080]
+      - [0.2010, 0.0170, -0.0080]
+      - [0.2450, 0.0170, -0.0060]
+      - [0.2890, 0.0110, 0.0070]
+      - [0.1320, -0.0110, -0.0140]
+      - [0.1490, -0.0090, -0.0080]
+      - [0.1910, -0.0050, -0.0090]
+      - [0.2360, -0.0060, -0.0070]
+      - [0.2800, -0.0120, 0.0040]
+      - [0.1190, -0.0340, -0.0140]
+      - [0.1360, -0.0320, -0.0080]
+      - [0.1780, -0.0280, -0.0070]
+      - [0.2220, -0.0280, -0.0040]
+      - [0.2670, -0.0340, 0.0070]
+#  right_hand: # Human
+#    - [0.00000, 0.00000, 0.00000]
+#    - [0.03380, 0.04230, 0.00000]
+#    - [0.06920, 0.07760, 0.00000]
+#    - [0.09370, 0.10220, 0.00000]
+#    - [0.11820, 0.12680, 0.00000]
+#    - [0.04380, 0.02680, 0.00000]
+#    - [0.11460, 0.04040, 0.00000]
+#    - [0.16370, 0.04040, 0.00000]
+#    - [0.19150, 0.04040, 0.00000]
+#    - [0.21750, 0.04040, 0.00000]
+#    - [0.04590, 0.01030, 0.00000]
+#    - [0.11610, 0.01450, 0.00000]
+#    - [0.16960, 0.01450, 0.00000]
+#    - [0.20310, 0.01450, 0.00000]
+#    - [0.22910, 0.01450, 0.00000]
+#    - [0.04570, -0.00180, 0.00000]
+#    - [0.10860, -0.00830, 0.00000]
+#    - [0.15520, -0.00830, 0.00000]
+#    - [0.18750, -0.00830, 0.00000]
+#    - [0.21350, -0.00830, 0.00000]
+#    - [0.04290, -0.01630, 0.00000]
+#    - [0.09910, -0.03110, 0.00000]
+#    - [0.13650, -0.03110, 0.00000]
+#    - [0.16000, -0.03110, 0.00000]
+#    - [0.18600, -0.03110, 0.00000]
+  left_hand:                          # l18_2_左手
+    l16_3:
+      - [0.0, 0.0, 0.0]
+      - [-0.0130, 0.0520, -0.0360]
+      - [-0.0450, 0.0630, -0.0360]
+      - [-0.0780, 0.0740, -0.0360]
+      - [-0.1200, 0.0810, -0.0270]
+      - [-0.0760, 0.0320, -0.0150]
+      - [-0.0820, 0.0220, -0.0030]
+      - [-0.1170, 0.0220, -0.0030]
+      - [-0.1510, 0.0220, -0.0030]
+      - [-0.1930, 0.0310, -0.0100]
+      - [-0.0760, 0.0000, -0.0150]
+      - [-0.0820, -0.0100, -0.0030]
+      - [-0.1170, -0.0100, -0.0030]
+      - [-0.1510, -0.0100, -0.0030]
+      - [-0.1930, -0.0010, -0.0100]
+      - [-0.0760, -0.0320, -0.0150]
+      - [-0.0820, -0.0420, -0.0030]
+      - [-0.1170, -0.0420, -0.0030]
+      - [-0.1510, -0.0420, -0.0030]
+      - [-0.1930, -0.0330, -0.0100]
+      - [-0.0760, -0.0640, -0.0150]
+      - [-0.0820, -0.0100, -0.0030]
+      - [-0.1170, -0.0100, -0.0030]
+      - [-0.1510, -0.0100, -0.0030]
+      - [-0.1930, -0.0010, -0.0100]
+    l20_8: # l20_8_右手
+      - [0.0, 0.0, 0.0]
+      - [-0.0490, 0.0080, -0.0220]
+      - [-0.1210, 0.0560, -0.0320]
+      - [-0.1490, 0.0760, -0.0190]
+      - [-0.1690, 0.1000, -0.0230]
+      - [-0.1540, 0.0270, 0.0290]
+      - [-0.1540, 0.0310, 0.0150]
+      - [-0.1990, 0.0290, 0.0180]
+      - [-0.2300, 0.0350, 0.0100]
+      - [-0.2550, 0.0270, 0.0230]
+      - [-0.1590, 0.0050, 0.0330]
+      - [-0.1590, 0.0100, 0.0190]
+      - [-0.2040, 0.0070, 0.0230]
+      - [-0.2340, 0.0130, 0.0150]
+      - [-0.2590, 0.0060, 0.0280]
+      - [-0.1540, -0.0170, 0.0310]
+      - [-0.1540, -0.0120, 0.0170]
+      - [-0.1990, -0.0140, 0.0210]
+      - [-0.2300, -0.0090, 0.0120]
+      - [-0.2550, -0.0160, 0.0260]
+      - [-0.1450, -0.0380, 0.0270]
+      - [-0.1450, -0.0330, 0.0140]
+      - [-0.1900, -0.0360, 0.0170]
+      - [-0.2210, -0.0300, 0.0090]
+      - [-0.2460, -0.0380, 0.0220]
+    l10_6: # l10_6右手
+      - [0.0, 0.0, 0.0]
+      - [-0.085, 0.047, -0.013]
+      - [-0.128, 0.075, -0.014]
+      - [-0.154, 0.099, -0.009]
+      - [-0.168, 0.123, -0.001]
+      - [-0.158, 0.023, -0.012]
+      - [-0.176, 0.031, 0.001]
+      - [-0.209, 0.028, 0.006]
+      - [-0.234, 0.028, 0.016]
+      - [-0.256, 0.024, 0.031]
+      - [-0.181, 0.012, 0.003]
+      - [-0.181, 0.012, 0.003]
+      - [-0.214, 0.009, 0.008]
+      - [-0.239, 0.009, 0.018]
+      - [-0.261, 0.005, 0.033]
+      - [-0.158, -0.015, -0.012]
+      - [-0.176, -0.007, 0.001]
+      - [-0.209, -0.010, 0.006]
+      - [-0.234, -0.010, 0.016]
+      - [-0.256, -0.014, 0.031]
+      - [-0.153, -0.034, -0.014]
+      - [-0.171, -0.026, -0.001]
+      - [-0.204, -0.029, 0.004]
+      - [-0.229, -0.029, 0.014]
+      - [-0.251, -0.033, 0.029]
+    t24_1: # t24_1_右手
+      - [0, 0, 0]
+      - [-0.0820, 0.0170, -0.0090]
+      - [-0.1090, 0.0480, -0.0130]
+      - [-0.1320, 0.0840, -0.0250]
+      - [-0.1480, 0.1230, -0.0420]
+      - [-0.1340, 0.0340, -0.0140]
+      - [-0.1510, 0.0360, -0.0080]
+      - [-0.1930, 0.0400, -0.0080]
+      - [-0.2370, 0.0400, -0.0060]
+      - [-0.2820, 0.0340, 0.0050]
+      - [-0.1420, 0.0110, -0.0140]
+      - [-0.1590, 0.0140, -0.0080]
+      - [-0.2010, 0.0170, -0.0080]
+      - [-0.2450, 0.0170, -0.0060]
+      - [-0.2890, 0.0110, 0.0070]
+      - [-0.1320, -0.0110, -0.0140]
+      - [-0.1490, -0.0090, -0.0080]
+      - [-0.1910, -0.0050, -0.0090]
+      - [-0.2360, -0.0060, -0.0070]
+      - [-0.2800, -0.0120, 0.0040]
+      - [-0.1190, -0.0340, -0.0140]
+      - [-0.1360, -0.0320, -0.0080]
+      - [-0.1780, -0.0280, -0.0070]
+      - [-0.2220, -0.0280, -0.0040]
+      - [-0.2670, -0.0340, 0.0070]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/model_config.yml b/src/linkerhand_retarget/linkerhand_retarget/config/model_config.yml
new file mode 100644
index 0000000..fb1ed63
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/model_config.yml
@@ -0,0 +1,410 @@
+target_position_end:
+  right_hand:
+    l20_8:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+    l10_6:
+      - [0.011, 0.045, 0.126]       #Trumb + littleroot
+      - [0.012, 0.022, 0.137]      #Trumb + littleroot
+      - [0.011, 0.03, 0.141]       #Trumb + littleroot
+      - [0.013, -0.013, 0.141]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.098, -0.020, 0.167]         #Trumb + index + print
+    l16_3:
+      - [ 0.0120, 0.0320, 0.0730]
+      - [ 0.0130, 0.0410, 0.1260]
+      - [ 0.0850, 0.0310, 0.1010]
+      - [-0.0080, 0.1270, 0.0920]
+      - [-0.0009, 0.0610, 0.1180]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+  left_hand:
+    l18_2:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+      - [-0.5000, 0.0000, 0.1000]
+    l20_8:
+      - [0.005,  0.034, 0.15]       #Trumb + littleroot
+      - [0.006,  0.018, 0.149]      #Trumb + littleroot
+      - [0.016, -0.002, 0.155]       #Trumb + littleroot
+      - [0.023, -0.017, 0.149]       #Trumb + littleroot
+      - [0.023, -0.144, 0.112]       #Trumb default
+      - [0.023, -0.061, 0.184]       #Trumb nearly index
+      - [0.077, -0.018, 0.179]         #Trumb + index + print
+    l10_6:
+      - [0.078,  0.000, 0.123]       #Trumb + littleroot
+      - [0.078, -0.006, 0.126]      #Trumb + littleroot
+      - [0.078, -0.012, 0.127]       #Trumb + littleroot
+      - [0.078, -0.018, 0.169]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.064, -0.017, 0.192]         #Trumb + index + print
+    l16_3:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+      - [-0.5000, 0.0000, 0.1000]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+refer_position_end:
+  right_hand:
+    l20_8:
+      - [0.09, -0.05, 0.11]
+      - [0.1, -0.05, 0.14]
+      - [0.085, -0.03, 0.17]
+      - [0.05, -0.02, 0.18]
+      - [0.05, -0.02, 0.18]
+      - [0.05, -0.02, 0.18]
+      - [0.05, -0.02, 0.18]
+    l10_6:
+      - [0.023, 0.034, 0.153]       #Trumb + littleroot
+      - [0.023, 0.015, 0.158]      #Trumb + littleroot
+      - [0.023, -0.012, 0.181]       #Trumb + littleroot
+      - [0.023, -0.023, 0.158]       #Trumb + littleroot
+      - [0.096, -0.122, 0.127]       #Trumb default
+      - [0.025, -0.043, 0.175]       #Trumb nearly index
+      - [0.058, -0.024, 0.184]         #Trumb + index + print
+    l16_3:
+      - [ 0.0120, 0.0320, 0.0730]
+      - [ 0.0130, 0.0410, 0.1260]
+      - [ 0.0850, 0.0310, 0.1010]
+      - [-0.0080, 0.1270, 0.0920]
+      - [-0.0009, 0.0610, 0.1180]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+  left_hand:
+    l18_2:
+      - [-0.5000, 0.0000, 0.1100]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+    l20_8:
+      - [0.09, -0.05, 0.11]
+      - [0.1, -0.05, 0.14]
+      - [0.085, -0.03, 0.17]
+      - [0.05, -0.02, 0.18]
+      - [0.05, -0.02, 0.18]
+      - [0.05, -0.02, 0.18]
+      - [0.05, -0.02, 0.18]
+    l10_6:
+      - [0.011, 0.045, 0.126]       #Trumb + littleroot
+      - [0.012, 0.022, 0.137]      #Trumb + littleroot
+      - [0.011, 0.03, 0.141]       #Trumb + littleroot
+      - [0.013, -0.013, 0.141]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.098, -0.020, 0.167]         #Trumb + index + print
+    l16_3:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+      - [-0.5000, 0.0000, 0.1000]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+refer_rangerange_end:
+  right_hand:
+    l20_8:
+      - [0.02, 0.01, 0.01]
+      - [0.05, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01 ]
+    l10_6:
+      - [0.011, 0.045, 0.126]       #Trumb + littleroot
+      - [0.012, 0.022, 0.137]      #Trumb + littleroot
+      - [0.011, 0.03, 0.141]       #Trumb + littleroot
+      - [0.013, -0.013, 0.141]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.098, -0.020, 0.167]         #Trumb + index + print
+    l16_3:
+      - [ 0.0120, 0.0320, 0.0730]
+      - [ 0.0130, 0.0410, 0.1260]
+      - [ 0.0850, 0.0310, 0.1010]
+      - [-0.0080, 0.1270, 0.0920]
+      - [-0.0009, 0.0610, 0.1180]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+  left_hand:
+    l18_2:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+    l20_8:
+      - [0.02, 0.01, 0.01]
+      - [0.05, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01 ]
+    l10_6:
+      - [0.011, 0.045, 0.126]       #Trumb + littleroot
+      - [0.012, 0.022, 0.137]      #Trumb + littleroot
+      - [0.011, 0.03, 0.141]       #Trumb + littleroot
+      - [0.013, -0.013, 0.141]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.098, -0.020, 0.167]         #Trumb + index + print
+    l16_3:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+      - [-0.5000, 0.0000, 0.1000]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+target_position_secondary:
+  right_hand:
+    l20_8:
+      - [0.051, -0.008, 0.114]
+      - [0.059, -0.012, 0.114]
+      - [0.064,  0.015, 0.114]
+      - [0.032,  0.061, 0.104]
+      - [0.032,  0.081, 0.090]
+      - [0.032,  0.045, 0.128]
+      - [0.064, 0.006, 0.115]
+    l10_6:
+      - [0.011, 0.045, 0.126]       #Trumb + littleroot
+      - [0.012, 0.022, 0.137]      #Trumb + littleroot
+      - [0.011, 0.03, 0.141]       #Trumb + littleroot
+      - [0.013, -0.013, 0.141]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.098, -0.020, 0.167]         #Trumb + index + print
+    l16_3:
+      - [ 0.0120, 0.0320, 0.0730]
+      - [ 0.0130, 0.0410, 0.1260]
+      - [ 0.0850, 0.0310, 0.1010]
+      - [-0.0080, 0.1270, 0.0920]
+      - [-0.0009, 0.0610, 0.1180]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+  left_hand:
+    l18_2:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+      - [-0.5000, 0.0000, 0.1000]
+    l20_8:
+      - [0.051,  0.008, 0.114]
+      - [0.059,  0.012, 0.114]
+      - [0.064, -0.015, 0.114]
+      - [0.032, -0.061, 0.104]
+      - [0.032, -0.081, 0.090]
+      - [0.032, -0.045, 0.128]
+      - [0.064, -0.006, 0.115]
+    l10_6:
+      - [0.011, 0.045, 0.126]       #Trumb + littleroot
+      - [0.012, 0.022, 0.137]      #Trumb + littleroot
+      - [0.011, 0.03, 0.141]       #Trumb + littleroot
+      - [0.013, -0.013, 0.141]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.098, -0.020, 0.167]         #Trumb + index + print
+    l16_3:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+      - [-0.5000, 0.0000, 0.1000]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+refer_position_secondary:
+  right_hand:
+    l20_8:
+      - [0.09, 0, 0.1]
+      - [0.07, 0, 0.12]
+      - [0.06, 0, 0.125]
+      - [0.04, 0.04, 0.13]
+      - [0.032, 0.081, 0.090]
+      - [0.032, 0.045, 0.128]
+      - [0.032, 0.045, 0.128]
+    l10_6:
+      - [ 0.011, 0.045, 0.126 ]       #Trumb + littleroot
+      - [ 0.012, 0.022, 0.137 ]      #Trumb + littleroot
+      - [ 0.011, 0.03, 0.141 ]       #Trumb + littleroot
+      - [ 0.013, -0.013, 0.141 ]       #Trumb + littleroot
+      - [ 0.032, -0.107, 0.145 ]       #Trumb default
+      - [ 0.030, -0.051, 0.179 ]       #Trumb nearly index
+      - [ 0.098, -0.020, 0.167 ]         #Trumb + index + print
+    l16_3:
+      - [ 0.0120, 0.0320, 0.0730]
+      - [ 0.0130, 0.0410, 0.1260]
+      - [ 0.0850, 0.0310, 0.1010]
+      - [-0.0080, 0.1270, 0.0920]
+      - [-0.0009, 0.0610, 0.1180]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+  left_hand:
+    l18_2:
+      - [-0.5000, 0.0000, 0.1100]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+    l20_8:
+      - [0.09, 0, 0.1]
+      - [0.07, 0, 0.12]
+      - [0.06, 0, 0.125]
+      - [0.04, 0.04, 0.13]
+      - [0.032, 0.081, 0.090]
+      - [0.032, 0.045, 0.128]
+      - [0.032, 0.045, 0.128]
+    l10_6:
+      - [0.011, 0.045, 0.126]       #Trumb + littleroot
+      - [0.012, 0.022, 0.137]      #Trumb + littleroot
+      - [0.011, 0.03, 0.141]       #Trumb + littleroot
+      - [0.013, -0.013, 0.141]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.098, -0.020, 0.167]         #Trumb + index + print
+    l16_3:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+      - [-0.5000, 0.0000, 0.1000]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+refer_rangerange_secondary:
+  right_hand:
+    l20_8:
+      - [0.02, 0.01, 0.01]
+      - [0.05, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+    l10_6:
+      - [0.011, 0.045, 0.126]       #Trumb + littleroot
+      - [0.012, 0.022, 0.137]      #Trumb + littleroot
+      - [0.011, 0.03, 0.141]       #Trumb + littleroot
+      - [0.013, -0.013, 0.141]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.098, -0.020, 0.167]         #Trumb + index + print
+    l16_3:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+      - [-0.5000, 0.0000, 0.1000]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
+  left_hand:
+    l18_2:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+    l20_8:
+      - [0.02, 0.01, 0.01]
+      - [0.05, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+      - [0.01, 0.01, 0.01]
+    l10_6:
+      - [0.011, 0.045, 0.126]       #Trumb + littleroot
+      - [0.012, 0.022, 0.137]      #Trumb + littleroot
+      - [0.011, 0.03, 0.141]       #Trumb + littleroot
+      - [0.013, -0.013, 0.141]       #Trumb + littleroot
+      - [0.032, -0.107, 0.145]       #Trumb default
+      - [0.030, -0.051, 0.179]       #Trumb nearly index
+      - [0.098, -0.020, 0.167]         #Trumb + index + print
+    l16_3:
+      - [-0.5000, 0.0000, 0.1000]
+      - [-0.5270, 0.0270, 0.0974]
+      - [-0.5927, 0.0723, 0.0965]
+      - [-0.6121, 0.0904, 0.0959]
+      - [-0.5000, 0.0000, 0.1000]
+    t24_1:
+      - [0.005, -0.034, 0.15]       #Trumb + littleroot
+      - [0.006, -0.018, 0.149]      #Trumb + littleroot
+      - [0.016, 0.002, 0.155]       #Trumb + littleroot
+      - [0.023, 0.017, 0.149]       #Trumb + littleroot
+      - [0.023, 0.144, 0.112]       #Trumb default
+      - [0.023, 0.061, 0.184]       #Trumb nearly index
+      - [0.077, 0.018, 0.179]         #Trumb + index + print
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/retarget_config.yml b/src/linkerhand_retarget/linkerhand_retarget/config/retarget_config.yml
new file mode 100644
index 0000000..a521cd7
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/retarget_config.yml
@@ -0,0 +1,98 @@
+right_hand:
+  l20:
+    - [    0,    0,  0.8,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]       
+    - [ 0.42, 0.99, 0.36, 0.91,    0,    0, 1.40, 1.08,    0,    0, 1.40, 1.08,    0,    0, 1.40, 1.08,    0,    0, 1.40, 1.08,    0]   
+    - [    0,    0,    0,    0,    0, 0.26,    0,    0,    0, 0.13,    0,    0,    0,-0.13,    0,    0,    0,-0.26,    0,    0,    0]
+    - [    0, 0.97, 0.31, 0.81,    0,    0, 0.63, 1.06,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]
+    - [ 0.16, 0.97, 0.40, 0.81,    0,    0,    0,    0,    0,    0, 0.56, 1.08,    0,    0,    0,    0,    0,    0,    0,    0,    0]
+    - [ 0.31, 1.18, 0.38, 0.81,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0, 0.61, 1.08,    0,    0,    0,    0,    0]
+    - [ 0.54, 1.18, 0.28, 0.91,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0, 0.61, 1.08,    0]
+  l10:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]       
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]   
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]
+  l7:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]        
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]    
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+  l24:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]        
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]    
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+  l25:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]        
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]    
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+  l30:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]        
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]    
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+left_hand:
+  l20:
+    - [    0,    0,  0.8,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]       
+    - [ 0.42, 0.99, 0.36, 0.91,    0,    0, 1.40, 1.08,    0,    0, 1.40, 1.08,    0,    0, 1.40, 1.08,    0,    0, 1.40, 1.08,    0]   
+    - [    0,    0,    0,    0,    0, 0.26,    0,    0,    0, 0.13,    0,    0,    0,-0.13,    0,    0,    0,-0.26,    0,    0,    0]
+    - [    0, 0.97, 0.31, 0.81,    0,    0, 0.63, 1.06,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]
+    - [ 0.16, 0.97, 0.40, 0.81,    0,    0,    0,    0,    0,    0, 0.56, 1.08,    0,    0,    0,    0,    0,    0,    0,    0,    0]
+    - [ 0.31, 1.18, 0.38, 0.81,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0, 0.61, 1.08,    0,    0,    0,    0,    0]
+    - [ 0.54, 1.18, 0.28, 0.91,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0, 0.61, 1.08,    0]
+  l10:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]        
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]    
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+  l7:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]        
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]    
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+  l24:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]        
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]    
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+  l25:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]        
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]    
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+  l30:
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]        
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0]    
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
+    - [    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0] 
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/speed_config.yml b/src/linkerhand_retarget/linkerhand_retarget/config/speed_config.yml
new file mode 100644
index 0000000..631cab2
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/speed_config.yml
@@ -0,0 +1 @@
+l20_8:
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l10v7_left.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l10v7_left.yml
new file mode 100644
index 0000000..4b033fb
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l10v7_left.yml
@@ -0,0 +1,21 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/l10v7_left/linkerhand_l10v7_left.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['index_mcp_pitch', 'index_mcp_roll',
+                       'pinky_mcp_pitch', 'pinky_mcp_roll',
+                       'middle_mcp_pitch',
+                       'ring_mcp_pitch','ring_mcp_roll',
+                       'thumb_cmc_roll', 'thumb_cmc_yaw', 'thumb_cmc_pitch']
+  target_origin_link_names: [ "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link"]
+  target_task_link_names: [ "thumb_distal", "index_distal", "middle_distal", "ring_distal", "pinky_distal"]
+  scaling_factor: 1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  # target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 9, 14, 19, 24 ] ]
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 8, 12, 16, 20 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l10v7_right.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l10v7_right.yml
new file mode 100644
index 0000000..2fa2561
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l10v7_right.yml
@@ -0,0 +1,22 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/linker_hand_l10_6_right.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['index_mcp_pitch', 'index_mcp_roll',
+                       'pinky_mcp_pitch', 'pinky_mcp_roll',
+                       'middle_mcp_pitch',
+                       'ring_mcp_pitch','ring_mcp_roll',
+                       'thumb_cmc_roll', 'thumb_cmc_yaw', 'thumb_cmc_pitch']
+  target_origin_link_names: [ "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link"]
+  target_task_link_names: [ "thumb_distal", "index_distal", "middle_distal", "ring_distal", "pinky_distal"]
+  scaling_factor: 1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  # target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 9, 14, 19, 24 ] ]
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 8, 12, 16, 20 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
+
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l20_left.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l20_left.yml
new file mode 100644
index 0000000..7187a9c
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l20_left.yml
@@ -0,0 +1,20 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/linker_hand_l20_8_left.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['index_joint0', 'index_joint1', 'index_joint2',
+                       'little_joint0', 'little_joint1', 'little_joint2',
+                       'middle_joint0', 'middle_joint1', 'middle_joint2',
+                       'ring_joint0', 'ring_joint1', 'ring_joint2',
+                       'thumb_joint0', 'thumb_joint1', 'thumb_joint2', 'thumb_joint3']
+  target_origin_link_names: [ "base_link", "base_link", "base_link", "base_link", "base_link", "base_link", "base_link", "base_link", "base_link", "base_link" ]
+  target_task_link_names: [ "thumb_link5", "thumb_link3", "index_link4", "middle_link4", "ring_link4", "little_link4" ,"index_link2", "middle_link2", "ring_link2", "little_link2"]
+  scaling_factor: 1.0
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ], [4, 2, 9, 14, 19, 24, 7, 12, 17, 22  ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l20_right.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l20_right.yml
new file mode 100644
index 0000000..a8a7d12
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l20_right.yml
@@ -0,0 +1,19 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/linker_hand_l20_8_right.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['index_joint0', 'index_joint1', 'index_joint2',
+                       'little_joint0', 'little_joint1', 'little_joint2',
+                       'middle_joint0', 'middle_joint1', 'middle_joint2',
+                       'ring_joint0', 'ring_joint1', 'ring_joint2',
+                       'thumb_joint0', 'thumb_joint1', 'thumb_joint2', 'thumb_joint3']
+  target_origin_link_names: [ "base_link", "base_link", "base_link", "base_link", "base_link", "base_link", "base_link", "base_link", "base_link", "base_link" ]
+  target_task_link_names: [ "thumb_link5", "thumb_link3", "index_link4", "middle_link4", "ring_link4", "little_link4" ,"index_link2", "middle_link2", "ring_link2", "little_link2"]
+  scaling_factor: 1.0
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ], [4, 2, 9, 14, 19, 24, 7, 12, 17, 22  ] ]
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l6_left.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l6_left.yml
new file mode 100644
index 0000000..0161306
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l6_left.yml
@@ -0,0 +1,21 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/l6_left/linkerhand_l6_left.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['thumb_cmc_roll', 'thumb_cmc_pitch',
+                       'index_mcp_pitch', 
+                       'middle_mcp_pitch',
+                       'ring_mcp_pitch', 
+                       'pinky_mcp_pitch']
+  target_origin_link_names: [ "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link"]
+  target_task_link_names: [ "thumb_distal", "index_distal", "middle_distal", "ring_distal", "pinky_distal"]
+  scaling_factor: 1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 4, 4, 4, 4 ] ]
+#  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 8, 12, 16, 20 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l6_right.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l6_right.yml
new file mode 100644
index 0000000..de5d884
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_l6_right.yml
@@ -0,0 +1,21 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/l6_right/linkerhand_l6_right.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['thumb_cmc_roll', 'thumb_cmc_pitch',
+                       'index_mcp_pitch', 
+                       'middle_mcp_pitch',
+                       'ring_mcp_pitch', 
+                       'pinky_mcp_pitch']
+  target_origin_link_names: [ "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link"]
+  target_task_link_names: [ "thumb_distal", "index_distal", "middle_distal", "ring_distal", "pinky_distal"]
+  scaling_factor: 1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 4, 4, 4, 4 ] ]
+#  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 8, 12, 16, 20 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o6_left.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o6_left.yml
new file mode 100644
index 0000000..5885f58
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o6_left.yml
@@ -0,0 +1,21 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/o6_left/linkerhand_o6_left.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['thumb_cmc_yaw', 'thumb_cmc_pitch',
+                       'index_mcp_pitch', 
+                       'middle_mcp_pitch',
+                       'ring_mcp_pitch', 
+                       'pinky_mcp_pitch']
+  target_origin_link_names: [ "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link"]
+  target_task_link_names: [ "thumb_distal", "index_distal", "middle_distal", "ring_distal", "pinky_distal"]
+  scaling_factor: 1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 4, 4, 4, 4 ] ]
+#  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 8, 12, 16, 20 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o6_right.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o6_right.yml
new file mode 100644
index 0000000..ecb5170
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o6_right.yml
@@ -0,0 +1,21 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/o6_right/linkerhand_o6_right.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['thumb_cmc_yaw', 'thumb_cmc_pitch',
+                       'index_mcp_pitch', 
+                       'middle_mcp_pitch',
+                       'ring_mcp_pitch', 
+                       'pinky_mcp_pitch']
+  target_origin_link_names: [ "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link"]
+  target_task_link_names: [ "thumb_distal", "index_distal", "middle_distal", "ring_distal", "pinky_distal"]
+  scaling_factor: 1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 4, 4, 4, 4 ] ]
+#  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 8, 12, 16, 20 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o7v3_left.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o7v3_left.yml
new file mode 100644
index 0000000..a8dbbe2
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o7v3_left.yml
@@ -0,0 +1,21 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/o7v3_left/linkerhand_o7v3_left.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['index_mcp_pitch', 
+                       'pinky_mcp_pitch', 
+                       'middle_mcp_pitch',
+                       'ring_mcp_pitch',
+                       'thumb_cmc_roll', 'thumb_cmc_yaw', 'thumb_cmc_pitch']
+  target_origin_link_names: [ "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link", "hand_base_link"]
+  target_task_link_names: [ "thumb_distal", "index_distal", "middle_distal", "ring_distal", "pinky_distal"]
+  scaling_factor: 1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  # target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 9, 14, 19, 24 ] ]
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 8, 12, 16, 20 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
diff --git a/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o7v3_right.yml b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o7v3_right.yml
new file mode 100644
index 0000000..892cec2
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/config/teleop/linker_hand_o7v3_right.yml
@@ -0,0 +1,21 @@
+retargeting:
+  type: vector
+  urdf_path: linker_hand/linker_hand_l10_6_right.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: ['index_joint0', 'index_joint2',
+                       'little_joint0', 'little_joint2',
+                       'middle_joint1',
+                       'ring_joint0', 'ring_joint2',
+                       'thumb_joint0', 'thumb_joint1', 'thumb_joint3']
+  target_origin_link_names: [ "base_link", "base_link", "base_link", "base_link", "base_link"]
+  target_task_link_names: [ "thumb_link5", "index_link4", "middle_link3", "ring_link4", "little_link4"]
+  scaling_factor: 1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 9, 14, 19, 24 ] ]
+#  target_link_human_indices: [ [ 0, 0, 0, 0, 0], [ 4, 8, 12, 16, 20 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
diff --git a/src/linkerhand_retarget/linkerhand_retarget/handretarget.py b/src/linkerhand_retarget/linkerhand_retarget/handretarget.py
new file mode 100644
index 0000000..9c9f0c0
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/handretarget.py
@@ -0,0 +1,354 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import sys
+import os
+from pathlib import Path
+
+# 强制使用src目录的路径
+def setup_src_paths():
+    """确保使用src目录而不是build目录"""
+    # 获取工作空间的绝对路径
+    current_file = Path(__file__).absolute()
+    workspace_dir = current_file.parent.parent.parent.parent
+    
+    # 添加src目录到Python路径
+    src_package_dir = workspace_dir / "src" / "linkerhand_retarget" / "linkerhand_retarget"
+    if src_package_dir.exists():
+        paths_to_add = [
+            src_package_dir,
+            src_package_dir / "linkerhand",
+        ]
+        
+        for path in paths_to_add:
+            if path.exists() and str(path) not in sys.path:
+                sys.path.insert(0, str(path))
+    
+    return src_package_dir
+
+workspace_dir = setup_src_paths()
+
+
+import time
+from threading import Thread, Event
+from pathlib import Path
+from queue import Empty
+from typing import Optional
+import numpy as np
+import enum
+import signal, sys
+
+
+_script_dir = str(Path(__file__).parent)
+# 使用本地 linkerhand
+if _script_dir not in sys.path:
+    sys.path.insert(0, _script_dir)
+
+from linkerhand.utils import *
+from linkerhand.vtrdyncore import *
+from linkerhand.handcore import HandCore
+from linkerhand.config import HandConfig
+from linkerhand.constants import RetargetingType, DataSource, MotionSource, RobotName
+
+from ament_index_python.packages import get_package_share_directory
+from pathlib import Path
+
+import rclpy
+from rclpy.node import Node
+from rclpy.executors import MultiThreadedExecutor
+from sensor_msgs.msg import JointState
+from geometry_msgs.msg import PoseArray
+from std_msgs.msg import String
+from rcl_interfaces.msg import ParameterDescriptor
+
+import json
+
+
+vr_pose_cache_r = []
+vr_pose_cache_l = []
+video_pose_cache_r = []
+video_pose_cache_l = []
+reangle_r = []
+reangle_l = []
+right_hand_pose_end = []
+left_hand_pose_end = []
+
+
+def signal_handler(sig, frame):
+    rclpy.shutdown()
+
+
+class HandRetargetNode(Node):
+    def __init__(self):
+        super().__init__('handretarget_node')
+        print("Ready Create HandRetargetNode!")
+
+        package_share_dir = workspace_dir
+
+        self.robot_dir = package_share_dir  / "assets" / "robots" / "hands"
+        self.base_config = package_share_dir 
+
+        self.handconfig = HandConfig(str(self.robot_dir), str(self.base_config))
+        self.handcore = HandCore(self.handconfig)
+
+        self.baseconfig = self.handconfig.baseconfig
+        self.retagetconfig = self.handconfig.retagetconfig
+
+        # 声明参数并提供默认值
+        # 兼容 Foxy (无 dynamic_typing) 和 Jazzy (有 dynamic_typing)
+        try:
+            auto_scan_desc = ParameterDescriptor(dynamic_typing=True)
+        except (TypeError, AttributeError, AssertionError):
+            auto_scan_desc = ParameterDescriptor()
+
+        self.declare_parameters(
+            namespace='',
+            parameters=[
+                ('calibration', False),
+                ('ports', ['']),
+                ('baudrate', 0),
+                ('auto_scan', None, auto_scan_desc),
+            ]
+        )
+        #
+        self.scene, self.retargeting_r, self.retargeting_l, self.config_r, self.config_l = None, None, None, None, None
+        self.robot_name_r, self.robot_name_l = None, None
+        self.retargeting_type = None
+        self.datasource_type = None
+        self.motion_type = None
+        self.udp_ip, self.udp_port, self.use_can, self.motion_device = None, None, None, None
+
+        self.calibration = self.get_parameter('calibration').value
+        print(f"是否启用标定: {self.calibration} ")
+        
+        # 读取命令行串口参数（候选列表）
+        cmd_ports = self.get_parameter('ports').value
+        self.cmd_ports = [p for p in cmd_ports if p] if cmd_ports else None
+        self.cmd_baudrate = self.get_parameter('baudrate').value or None
+        self.cmd_auto_scan = self.get_parameter('auto_scan').value
+        
+        if self.cmd_ports:
+            print(f"命令行指定候选串口: {self.cmd_ports} @ {self.cmd_baudrate}")
+        if self.cmd_auto_scan:
+            print(f"命令行启用自动扫描")
+        
+        self.calibrationopen_r, self.calibrationopen_l, self.calibrationclose_r, self.calibrationclose_l = None, None, None, None
+        self.retarget = None
+        self.datasource_type = DataSource[self.baseconfig["system"]["datasource_type"]]
+        self.retargeting_type = RetargetingType[self.baseconfig["system"]["retargeting_type"]]
+        self.motion_type = MotionSource[self.baseconfig["system"]["motion_type"]]
+        self.robot_name_r = RobotName[self.baseconfig["system"]["robotname_r"]]
+        self.robot_name_l = RobotName[self.baseconfig["system"]["robotname_l"]]
+
+        self.udp_ip = self.baseconfig["udp"]["ip"]
+        self.udp_port = int(self.baseconfig["udp"]["port"])
+        self.use_can = bool(self.baseconfig["system"]["usecan"])
+        self.motion_device = self.baseconfig["system"]["motion_device"]
+
+        # LinkerEG 配置
+        self.linkereg_port = self.baseconfig.get("linkereg", {}).get("port", None)
+        self.linkereg_password = self.baseconfig.get("linkereg", {}).get("password", "i")
+
+        self.righthandprint = bool(self.baseconfig["debug"]["joint_motor_debug_r"])
+        self.lefthandprint = bool(self.baseconfig["debug"]["joint_motor_debug_l"])
+
+        # if self.datasource_type == DataSource.vr:
+        #     self.vr_right_sub = self.create_subscription(
+        #         JointState,
+        #         '/vr_right_hand_pose',
+        #         self.vr_right_pose_callback,
+        #         10)
+        #     self.vr_left_sub = self.create_subscription(
+        #         JointState,
+        #         '/vr_left_hand_pose',
+        #         self.vr_left_pose_callback,
+        #         10)
+        # elif self.datasource_type == DataSource.video:
+        #     self.video_right_sub = self.create_subscription(
+        #         JointState,
+        #         '/video_right_hand_pose',
+        #         self.video_right_pose_callback,
+        #         10)
+        #     self.video_left_sub = self.create_subscription(
+        #         JointState,
+        #         '/video_left_hand_pose',
+        #         self.video_left_pose_callback,
+        #         10)
+        
+        self.pubprintcount = 0
+
+        # 订阅遥操作参数话题
+        self.teleop_param_sub = self.create_subscription(
+            String,
+            '/hand_teleop_param',
+            self.teleop_param_callback,
+            10
+        )
+
+        # 发布遥操作状态话题
+        self.teleop_state_pub = self.create_publisher(
+            String,
+            '/hand_teleop_state',
+            10
+        )
+
+        # 当前模式
+        self.current_mode = 'glove'
+
+    def teleop_param_callback(self, msg):
+        """处理遥操作参数话题回调"""
+        try:
+            param = json.loads(msg.data)
+            mode = param.get('mode')  # 可能为 None
+            
+            if self.retarget is not None and hasattr(self.retarget, 'set_mode'):
+                self.retarget.set_mode(mode, param)
+                if mode:
+                    self.current_mode = mode
+                # 发布状态反馈
+                state_msg = String()
+                state_msg.data = json.dumps({
+                    'mode': mode or self.current_mode,
+                    'status': 'success'
+                })
+                self.teleop_state_pub.publish(state_msg)
+            else:
+                self.get_logger().warn("retarget 未初始化或不支持 set_mode")
+                state_msg = String()
+                state_msg.data = json.dumps({
+                    'mode': mode or 'unknown',
+                    'status': 'failed',
+                    'error': 'retarget not initialized'
+                })
+                self.teleop_state_pub.publish(state_msg)
+        except json.JSONDecodeError as e:
+            self.get_logger().error(f"JSON 解析错误: {e}")
+            state_msg = String()
+            state_msg.data = json.dumps({
+                'mode': 'unknown',
+                'status': 'failed',
+                'error': str(e)
+            })
+            self.teleop_state_pub.publish(state_msg)
+        except Exception as e:
+            self.get_logger().error(f"参数处理错误: {e}")
+
+    def retargetrun(self):
+        if self.motion_type == MotionSource.udexreal:
+            from linkerhand_retarget.motion.udexreal.retarget import Retarget
+            self.retarget = Retarget(
+                self,
+                ip=self.udp_ip,
+                port=self.udp_port,
+                deviceid=self.motion_device,
+                righthand=self.robot_name_r,
+                lefthand=self.robot_name_l,
+                handcore=self.handcore,
+                lefthandpubprint=self.lefthandprint,
+                righthandpubprint=self.righthandprint
+            )
+        elif self.motion_type == MotionSource.udexrealv2t:
+            from linkerhand_retarget.motion.udexrealv2t.retarget import Retarget
+            self.retarget = Retarget(
+                self,
+                ip=self.udp_ip,
+                port=self.udp_port,
+                deviceid=self.motion_device,
+                righthand=self.robot_name_r,
+                lefthand=self.robot_name_l,
+                handcore=self.handcore,
+                lefthandpubprint=self.lefthandprint,
+                righthandpubprint=self.righthandprint,
+                calibration = self.calibration
+            )
+        elif self.motion_type == MotionSource.linkerforce:
+            from linkerhand_retarget.motion.linkerforce.retarget import Retarget
+            self.retarget = Retarget(
+                self,
+                righthand=self.robot_name_r,
+                lefthand=self.robot_name_l,
+                handcore=self.handcore,
+                lefthandpubprint=self.lefthandprint,
+                righthandpubprint=self.righthandprint,
+                calibration = self.calibration,
+                baseconfig = self.baseconfig,
+                cmd_ports=self.cmd_ports,
+                cmd_baudrate=self.cmd_baudrate,
+                cmd_auto_scan=self.cmd_auto_scan
+            )
+        elif self.motion_type == MotionSource.vtrdyn:
+            from linkerhand_retarget.motion.vtrdyn.retarget import Retarget
+            self.retarget = Retarget(
+                self,
+                ip=self.udp_ip,
+                port=self.udp_port,
+                righthand=self.robot_name_r,
+                lefthand=self.robot_name_l,
+                handcore=self.handcore,
+                lefthandpubprint=self.lefthandprint,
+                righthandpubprint=self.righthandprint,
+                calibration = self.calibration
+            )     
+        elif self.motion_type == MotionSource.linkermcg:
+            from linkerhand_retarget.motion.linkermcg.retarget import Retarget
+            self.retarget = Retarget(
+                self,
+                ip=self.udp_ip,
+                port=self.udp_port,
+                righthand=self.robot_name_r,
+                lefthand=self.robot_name_l,
+                handcore=self.handcore,
+                lefthandpubprint=self.lefthandprint,
+                righthandpubprint=self.righthandprint
+            )    
+        elif self.motion_type == MotionSource.linkereg2:
+            from linkerhand_retarget.motion.linkereg.retarget import Retarget
+            self.retarget = Retarget(
+                self,
+                port=self.linkereg_port,
+                baudrate=921600,
+                password=self.linkereg_password,
+                isdebug=bool(self.baseconfig["debug"]["joint_pub_debug"]),
+                mode='sdk'  # SDK控制模式
+            )
+        elif self.motion_type == MotionSource.linkereg1:
+            from linkerhand_retarget.motion.linkereg.retarget import Retarget
+            self.retarget = Retarget(
+                self,
+                port=self.linkereg_port,
+                baudrate=921600,
+                password=self.linkereg_password,
+                isdebug=bool(self.baseconfig["debug"]["joint_pub_debug"]),
+                mode='receiver'  # 接收器控制模式 (需要连接灵巧手)
+            )
+        if self.retarget is None:
+            self.get_logger().error("未正确创建应用实例")
+        else:
+            print("启动应用实例")
+            self.retarget.process()
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = None
+
+    try:
+        signal.signal(signal.SIGINT, signal_handler)
+        node = HandRetargetNode()
+        executor = MultiThreadedExecutor()
+        node.retargetrun()
+        
+        # Keep the node alive
+        rclpy.spin(node, executor)
+    except KeyboardInterrupt:
+        if node is not None:
+            node.get_logger().info("收到终止信号")
+    finally:
+        if node is not None:
+            # 停止串口线程
+            if hasattr(node, 'retarget') and node.retarget and hasattr(node.retarget, 'stop_serial_threads'):
+                node.retarget.stop_serial_threads()
+            node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/launch/linkerhand_retarget.launch.py b/src/linkerhand_retarget/linkerhand_retarget/launch/linkerhand_retarget.launch.py
new file mode 100644
index 0000000..5dbac64
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/launch/linkerhand_retarget.launch.py
@@ -0,0 +1,24 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+import os
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'calibration',
+            default_value='True',
+            description='Enable Calibration'
+        ),
+        
+        Node(
+            package='linkerhand_retarget',
+            executable='handretarget',
+            name='handretarget',
+            output='screen',
+            parameters=[{
+                'calibration': LaunchConfiguration('calibration'),
+            }]
+        ),
+    ])
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/__init__.py
new file mode 100644
index 0000000..5147606
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/__init__.py
@@ -0,0 +1 @@
+__version__ = "2.7.0"
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/config.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/config.py
new file mode 100644
index 0000000..26979a5
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/config.py
@@ -0,0 +1,19 @@
+from .utils import *
+
+
+class HandConfig():
+    def __init__(self, robot_dir: str, config_path: str):
+        package_share_dir = config_path
+        self.handconfig = read_yaml(os.path.join(package_share_dir, 'config', 'hand_config.yml'))
+        self.baseconfig = read_yaml(os.path.join(package_share_dir, 'config', 'base_config.yml'))
+        self.retagetconfig = read_yaml(os.path.join(package_share_dir, 'config', 'retarget_config.yml'))
+        self.modelconfig = read_yaml(os.path.join(package_share_dir, 'config', 'model_config.yml'))
+
+        self.robot_dir = robot_dir
+
+        self.bodypose = read_yaml(
+            os.path.join(package_share_dir, 'config', f'{self.baseconfig["humanset"]["bodyfile"]}.yml'))
+        self.targetpose = read_yaml(
+            os.path.join(package_share_dir, 'config', f'{self.baseconfig["humanset"]["targethandfile"]}.yml'))
+        self.retagetconfig = read_yaml(os.path.join(package_share_dir, 'config', 'retarget_config.yml'))
+
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/constants.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/constants.py
new file mode 100644
index 0000000..7be3311
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/constants.py
@@ -0,0 +1,130 @@
+import enum
+from pathlib import Path
+from typing import Optional
+
+import numpy as np
+
+OPERATOR2MANO_RIGHT = np.array(
+    [
+        [0, 0, -1],
+        [-1, 0, 0],
+        [0, 1, 0],
+    ]
+)
+
+OPERATOR2MANO_LEFT = np.array(
+    [
+        [0, 0, -1],
+        [1, 0, 0],
+        [0, -1, 0],
+    ]
+)
+
+
+class RobotName(enum.Enum):
+    o7 = enum.auto() 
+    o7v1 = enum.auto()
+    o7v3 = enum.auto()
+    o6 = enum.auto() 
+    l6 = enum.auto() 
+    l7 = enum.auto()
+    l10 = enum.auto()
+    l10v7 = enum.auto()
+    l20 = enum.auto()
+    l20lite = enum.auto()
+    l25 = enum.auto()
+    g20 = enum.auto()
+
+
+class RetargetingType(enum.Enum):
+    vector = enum.auto()  # For teleoperation, no finger closing prior
+    position = enum.auto()  # For offline data processing, especially hand-object interaction data
+    dexpilot = enum.auto()  # For teleoperation, with finger closing prior
+    projection = enum.auto()
+
+
+class HandType(enum.Enum):
+    right = enum.auto()
+    left = enum.auto()
+
+
+class DataSource(enum.Enum):
+    motion = enum.auto()
+    video = enum.auto()
+    vr = enum.auto()
+
+
+class MotionSource(enum.Enum):
+    vtrdyn = enum.auto()
+    udexreal = enum.auto()
+    udexrealv2t = enum.auto()
+    linkerforce = enum.auto()
+    sensenova = enum.auto()
+    linkermcg = enum.auto()
+    linkereg1 = enum.auto()
+    linkereg2 = enum.auto()
+
+
+ROBOT_NAME_MAP = {
+    RobotName.o7: "linker_hand_o7",
+    RobotName.l7: "linker_hand_l7",
+    RobotName.o6: "linker_hand_o6",
+    RobotName.l6: "linker_hand_l6",
+    RobotName.o7v1: "linker_hand_o7v1",
+    RobotName.o7v3: "linker_hand_o7v3",    
+    RobotName.l10: "linker_hand_l10",
+    RobotName.l10v7: "linker_hand_l10v7",   
+    RobotName.l20: "linker_hand_l20",
+    RobotName.l20lite: "linker_hand_l20lite",
+    RobotName.l25: "linker_hand_l25",
+    RobotName.g20: "linker_hand_g20",
+}
+
+ROBOT_NAMES = list(ROBOT_NAME_MAP.keys())
+
+
+ROBOT_LEN_MAP ={
+    RobotName.o7: 7,
+    RobotName.l7: 7,
+    RobotName.o6: 6,
+    RobotName.l6: 6,
+    RobotName.o7v1: 7,
+    RobotName.o7v3: 7,
+    RobotName.l10: 10,
+    RobotName.l10v7: 10,
+    RobotName.l20: 20,
+    RobotName.l20lite: 10,
+    RobotName.l25: 20,
+    RobotName.g20: 20,
+}
+
+ROBOT_LEN = list(ROBOT_LEN_MAP.keys())
+
+
+def get_default_config_path(
+        robot_name: RobotName, retargeting_type: RetargetingType, hand_type: HandType
+) -> Optional[Path]:
+    config_path = Path(__file__).parent.parent / "config"
+    if retargeting_type is RetargetingType.position:
+        config_path = config_path / "offline"
+    else:
+        config_path = config_path / "teleop"
+
+    robot_name_str = ROBOT_NAME_MAP[robot_name]
+    hand_type_str = hand_type.name
+    if "gripper" in robot_name_str:  # For gripper robots, only use gripper config file.
+        if retargeting_type == RetargetingType.dexpilot:
+            config_name = f"{robot_name_str}_dexpilot.yml"
+        else:
+            config_name = f"{robot_name_str}.yml"
+    else:
+        if retargeting_type == RetargetingType.dexpilot:
+            config_name = f"{robot_name_str}_{hand_type_str}_dexpilot.yml"
+        else:
+            config_name = f"{robot_name_str}_{hand_type_str}.yml"
+    return config_path / config_name
+
+OPERATOR2MANO = {
+    HandType.right: OPERATOR2MANO_RIGHT,
+    HandType.left: OPERATOR2MANO_LEFT,
+}
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/filter.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/filter.py
new file mode 100644
index 0000000..7401edd
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/filter.py
@@ -0,0 +1,784 @@
+import numpy as np
+from typing import List, Optional
+from collections import deque
+
+class LCFilter:
+    """
+    LC低通滤波器（一阶低通滤波器）
+    离散时间实现，常用于信号平滑
+    """
+    
+    def __init__(self, alpha: float = 0.1, initial_value: float = 0.0):
+        """
+        初始化LC滤波器
+        
+        参数：
+            alpha: 滤波系数 (0 < alpha <= 1)
+                   alpha越小，滤波效果越强（更平滑）
+                   alpha越大，响应越快（更灵敏）
+            initial_value: 初始值
+        """
+        if alpha <= 0 or alpha > 1:
+            raise ValueError("alpha必须在(0, 1]范围内")
+        
+        self.alpha = alpha
+        self.filtered_value = initial_value
+        self.previous_raw = initial_value
+        self.previous_filtered = initial_value
+        
+        # 历史记录（可选，用于调试）
+        self.history_raw = []
+        self.history_filtered = []
+    
+    def update(self, new_value: float) -> float:
+        """
+        更新滤波器并返回滤波后的值
+        
+        公式：y[n] = α * x[n] + (1-α) * y[n-1]
+        其中：x[n]是当前输入，y[n-1]是上一次输出
+        
+        参数：
+            new_value: 新的输入值
+        返回：
+            滤波后的值
+        """
+        # 保存历史值
+        self.previous_raw = new_value
+        self.previous_filtered = self.filtered_value
+        
+        # LC滤波公式
+        self.filtered_value = self.alpha * new_value + (1 - self.alpha) * self.filtered_value
+        
+        # 记录历史（可选）
+        self.history_raw.append(new_value)
+        self.history_filtered.append(self.filtered_value)
+        
+        return self.filtered_value
+    
+    def update_array(self, new_values: List[float]) -> List[float]:
+        """
+        批量更新数组
+        
+        参数：
+            new_values: 新的输入值列表
+        返回：
+            滤波后的值列表
+        """
+        filtered_values = []
+        for value in new_values:
+            filtered = self.update(value)
+            filtered_values.append(filtered)
+        return filtered_values
+    
+    def reset(self, initial_value: float = 0.0):
+        """重置滤波器状态"""
+        self.filtered_value = initial_value
+        self.previous_raw = initial_value
+        self.previous_filtered = initial_value
+        self.history_raw = []
+        self.history_filtered = []
+    
+    def get_state(self):
+        """获取当前状态"""
+        return {
+            'filtered_value': self.filtered_value,
+            'alpha': self.alpha,
+            'history_length': len(self.history_raw)
+        }
+
+
+class MultiChannelLCFilter:
+    """
+    多通道LC滤波器
+    同时对多个信号进行滤波
+    """
+    
+    def __init__(self, num_channels: int, alpha: float = 0.1, 
+                 initial_values: Optional[List[float]] = None):
+        """
+        初始化多通道滤波器
+        
+        参数：
+            num_channels: 通道数量
+            alpha: 滤波系数
+            initial_values: 初始值列表，长度需等于num_channels
+        """
+        self.num_channels = num_channels
+        self.alpha = alpha
+        
+        if initial_values is None:
+            initial_values = [0.0] * num_channels
+        elif len(initial_values) != num_channels:
+            raise ValueError(f"初始值长度必须等于通道数 {num_channels}")
+        
+        # 为每个通道创建一个滤波器
+        self.filters = [LCFilter(alpha, initial_values[i]) for i in range(num_channels)]
+    
+    def update(self, new_values: List[float]) -> List[float]:
+        """
+        更新所有通道
+        
+        参数：
+            new_values: 新的输入值列表，长度需等于num_channels
+        返回：
+            滤波后的值列表
+        """
+        if len(new_values) != self.num_channels:
+            raise ValueError(f"输入值长度必须等于通道数 {self.num_channels}")
+        
+        filtered_values = []
+        for i in range(self.num_channels):
+            filtered = self.filters[i].update(new_values[i])
+            filtered_values.append(filtered)
+        
+        return filtered_values
+    
+    def update_channel(self, channel_idx: int, new_value: float) -> float:
+        """
+        更新单个通道
+        
+        参数：
+            channel_idx: 通道索引 (0-based)
+            new_value: 新的输入值
+        返回：
+            滤波后的值
+        """
+        if channel_idx < 0 or channel_idx >= self.num_channels:
+            raise ValueError(f"通道索引必须在[0, {self.num_channels-1}]范围内")
+        
+        return self.filters[channel_idx].update(new_value)
+    
+    def reset(self, initial_values: Optional[List[float]] = None):
+        """重置所有通道"""
+        if initial_values is None:
+            initial_values = [0.0] * self.num_channels
+        
+        for i in range(self.num_channels):
+            self.filters[i].reset(initial_values[i])
+    
+    def get_state(self):
+        """获取所有通道的状态"""
+        states = []
+        for i, filter_obj in enumerate(self.filters):
+            state = filter_obj.get_state()
+            state['channel'] = i
+            states.append(state)
+        return states
+
+
+class AdaptiveLCFilter(LCFilter):
+    """
+    自适应LC滤波器
+    根据信号变化自动调整alpha值
+    """
+    
+    def __init__(self, alpha_min: float = 0.05, alpha_max: float = 0.3,
+                 change_threshold: float = 0.1, initial_value: float = 0.0):
+        """
+        初始化自适应滤波器
+        
+        参数：
+            alpha_min: 最小alpha值（信号稳定时使用）
+            alpha_max: 最大alpha值（信号快速变化时使用）
+            change_threshold: 变化阈值，超过此阈值认为信号在快速变化
+            initial_value: 初始值
+        """
+        super().__init__(alpha_max, initial_value)  # 初始使用最大alpha
+        self.alpha_min = alpha_min
+        self.alpha_max = alpha_max
+        self.change_threshold = change_threshold
+    
+    def update(self, new_value: float) -> float:
+        """
+        自适应更新滤波器
+        
+        策略：如果信号变化大，使用较大的alpha快速响应
+              如果信号稳定，使用较小的alpha平滑滤波
+        """
+        # 计算信号变化量
+        change_amount = abs(new_value - self.previous_raw)
+        
+        # 自适应调整alpha
+        if change_amount > self.change_threshold:
+            # 信号快速变化，使用大alpha快速响应
+            self.alpha = self.alpha_max
+        else:
+            # 信号稳定，使用小alpha平滑滤波
+            self.alpha = self.alpha_min
+        
+        # 调用父类更新方法
+        return super().update(new_value)
+
+
+def apply_lc_filter(data: List[float], alpha: float = 0.1) -> List[float]:
+    """
+    对数据应用LC滤波（函数式版本）
+    
+    参数：
+        data: 输入数据列表
+        alpha: 滤波系数
+    返回：
+        滤波后的数据列表
+    """
+    if alpha <= 0 or alpha > 1:
+        raise ValueError("alpha必须在(0, 1]范围内")
+    
+    if not data:
+        return []
+    
+    filtered = [data[0]]  # 第一个值直接使用
+    
+    for i in range(1, len(data)):
+        # LC滤波公式
+        y = alpha * data[i] + (1 - alpha) * filtered[i-1]
+        filtered.append(y)
+    
+    return filtered
+
+class KalmanFilter:
+    """
+    卡尔曼滤波器（简化版）
+    用于一维信号的滤波
+    """
+    
+    def __init__(self, 
+                 process_variance: float = 1e-5,
+                 measurement_variance: float = 0.1,
+                 initial_value: float = 0.0,
+                 initial_estimate_error: float = 1.0):
+        """
+        初始化卡尔曼滤波器
+        
+        参数：
+            process_variance: 过程噪声方差（Q，系统不确定性）
+            measurement_variance: 测量噪声方差（R，传感器噪声）
+            initial_value: 初始状态估计值
+            initial_estimate_error: 初始估计误差协方差
+        """
+        # 系统模型（简单的一维模型）
+        self.process_variance = process_variance  # Q
+        self.measurement_variance = measurement_variance  # R
+        
+        # 状态估计
+        self.x_hat = initial_value  # 状态估计值
+        self.p = initial_estimate_error  # 估计误差协方差
+        
+        # 历史记录（可选）
+        self.history_measurement = []
+        self.history_estimate = []
+        self.history_kalman_gain = []
+    
+    def update(self, measurement: float) -> float:
+        """
+        卡尔曼滤波更新步骤
+        
+        参数：
+            measurement: 测量值
+        返回：
+            滤波后的估计值
+        """
+        # 1. 预测步骤
+        # 对于简单的一维模型，假设状态不变
+        x_hat_minus = self.x_hat  # 先验状态估计
+        p_minus = self.p + self.process_variance  # 先验估计误差
+        
+        # 2. 更新步骤
+        # 计算卡尔曼增益
+        k = p_minus / (p_minus + self.measurement_variance)  # 卡尔曼增益
+        
+        # 更新状态估计
+        self.x_hat = x_hat_minus + k * (measurement - x_hat_minus)
+        
+        # 更新估计误差协方差
+        self.p = (1 - k) * p_minus
+        
+        # 记录历史
+        self.history_measurement.append(measurement)
+        self.history_estimate.append(self.x_hat)
+        self.history_kalman_gain.append(k)
+        
+        return self.x_hat
+    
+    def update_batch(self, measurements: List[float]) -> List[float]:
+        """
+        批量更新
+        
+        参数：
+            measurements: 测量值列表
+        返回：
+            滤波后的估计值列表
+        """
+        estimates = []
+        for measurement in measurements:
+            estimate = self.update(measurement)
+            estimates.append(estimate)
+        return estimates
+    
+    def reset(self, 
+              initial_value: float = 0.0,
+              initial_estimate_error: float = 1.0):
+        """
+        重置滤波器状态
+        """
+        self.x_hat = initial_value
+        self.p = initial_estimate_error
+        self.history_measurement = []
+        self.history_estimate = []
+        self.history_kalman_gain = []
+    
+    def get_state(self) -> dict:
+        """
+        获取当前状态
+        """
+        return {
+            'estimate': self.x_hat,
+            'error_covariance': self.p,
+            'process_variance': self.process_variance,
+            'measurement_variance': self.measurement_variance
+        }
+
+
+class MultiChannelKalmanFilter:
+    """
+    多通道卡尔曼滤波器
+    同时对多个独立信号进行滤波
+    """
+    
+    def __init__(self, 
+                 num_channels: int,
+                 process_variance: float = 1e-5,
+                 measurement_variance: float = 0.1,
+                 initial_values: Optional[List[float]] = None):
+        """
+        初始化多通道卡尔曼滤波器
+        
+        参数：
+            num_channels: 通道数量
+            process_variance: 过程噪声方差
+            measurement_variance: 测量噪声方差
+            initial_values: 初始值列表
+        """
+        self.num_channels = num_channels
+        
+        if initial_values is None:
+            initial_values = [0.0] * num_channels
+        elif len(initial_values) != num_channels:
+            raise ValueError(f"初始值长度必须等于通道数 {num_channels}")
+        
+        # 为每个通道创建独立的卡尔曼滤波器
+        self.filters = [
+            KalmanFilter(
+                process_variance=process_variance,
+                measurement_variance=measurement_variance,
+                initial_value=initial_values[i],
+                initial_estimate_error=1.0
+            ) for i in range(num_channels)
+        ]
+    
+    def update(self, measurements: List[float]) -> List[float]:
+        """
+        更新所有通道
+        
+        参数：
+            measurements: 测量值列表，长度需等于num_channels
+        返回：
+            滤波后的估计值列表
+        """
+        if len(measurements) != self.num_channels:
+            raise ValueError(f"测量值长度必须等于通道数 {self.num_channels}")
+        
+        estimates = []
+        for i in range(self.num_channels):
+            estimate = self.filters[i].update(measurements[i])
+            estimates.append(estimate)
+        
+        return estimates
+    
+    def update_channel(self, channel_idx: int, measurement: float) -> float:
+        """
+        更新单个通道
+        
+        参数：
+            channel_idx: 通道索引
+            measurement: 测量值
+        返回：
+            滤波后的估计值
+        """
+        if channel_idx < 0 or channel_idx >= self.num_channels:
+            raise ValueError(f"通道索引必须在[0, {self.num_channels-1}]范围内")
+        
+        return self.filters[channel_idx].update(measurement)
+    
+    def reset(self, initial_values: Optional[List[float]] = None):
+        """
+        重置所有通道
+        """
+        if initial_values is None:
+            initial_values = [0.0] * self.num_channels
+        
+        for i in range(self.num_channels):
+            self.filters[i].reset(
+                initial_value=initial_values[i],
+                initial_estimate_error=1.0
+            )
+    
+    def get_state(self, channel_idx: Optional[int] = None) -> dict:
+        """
+        获取状态信息
+        """
+        if channel_idx is not None:
+            if channel_idx < 0 or channel_idx >= self.num_channels:
+                raise ValueError(f"通道索引必须在[0, {self.num_channels-1}]范围内")
+            return self.filters[channel_idx].get_state()
+        else:
+            states = []
+            for i, filter_obj in enumerate(self.filters):
+                state = filter_obj.get_state()
+                state['channel'] = i
+                states.append(state)
+            return {'channels': states}
+
+
+class AdaptiveKalmanFilter(KalmanFilter):
+    """
+    自适应卡尔曼滤波器
+    根据测量噪声自动调整参数
+    """
+    
+    def __init__(self,
+                 min_process_variance: float = 1e-6,
+                 max_process_variance: float = 1e-3,
+                 initial_measurement_variance: float = 0.1,
+                 adaptation_rate: float = 0.01,
+                 initial_value: float = 0.0):
+        """
+        初始化自适应卡尔曼滤波器
+        
+        参数：
+            min_process_variance: 最小过程噪声方差
+            max_process_variance: 最大过程噪声方差
+            initial_measurement_variance: 初始测量噪声方差
+            adaptation_rate: 自适应调整速率
+        """
+        super().__init__(
+            process_variance=(min_process_variance + max_process_variance) / 2,
+            measurement_variance=initial_measurement_variance,
+            initial_value=initial_value
+        )
+        
+        self.min_process_variance = min_process_variance
+        self.max_process_variance = max_process_variance
+        self.adaptation_rate = adaptation_rate
+        self.measurement_history = []
+        
+    def update(self, measurement: float) -> float:
+        """
+        自适应更新
+        """
+        # 保存测量历史
+        self.measurement_history.append(measurement)
+        if len(self.measurement_history) > 10:
+            self.measurement_history.pop(0)
+        
+        # 计算最近的测量噪声
+        if len(self.measurement_history) >= 5:
+            recent_std = np.std(self.measurement_history[-5:])
+            # 根据噪声水平调整过程噪声方差
+            if recent_std > 0.1:
+                # 噪声大，增加过程噪声方差
+                self.process_variance = min(
+                    self.process_variance * (1 + self.adaptation_rate),
+                    self.max_process_variance
+                )
+            else:
+                # 噪声小，减小过程噪声方差
+                self.process_variance = max(
+                    self.process_variance * (1 - self.adaptation_rate),
+                    self.min_process_variance
+                )
+        
+        # 调用父类更新方法
+        return super().update(measurement)
+
+
+class SavitzkyGolayFilter:
+    """
+    Savitzky-Golay滤波器（实时版本）
+    适合保留波形特征的平滑
+    """
+    
+    def __init__(self, window_length: int = 7, polyorder: int = 2, 
+                 deriv: int = 0, delta: float = 1.0):
+        """
+        初始化Savitzky-Golay滤波器
+        
+        参数：
+            window_length: 窗口长度（必须为奇数，且大于polyorder）
+            polyorder: 多项式阶数
+            deriv: 微分阶数（0表示平滑，1表示一阶导等）
+            delta: 采样间隔
+        """
+        if window_length % 2 == 0:
+            raise ValueError("window_length必须是奇数")
+        if window_length <= polyorder:
+            raise ValueError("window_length必须大于polyorder")
+        
+        self.window_length = window_length
+        self.polyorder = polyorder
+        self.deriv = deriv
+        self.delta = delta
+        
+        # 数据缓冲区
+        self.buffer = deque(maxlen=window_length)
+        
+        # 计算滤波器系数
+        self.coefficients = self._compute_coefficients()
+        
+        # 历史记录
+        self.history_input = []
+        self.history_output = []
+    
+    def _compute_coefficients(self) -> np.ndarray:
+        """
+        计算Savitzky-Golay滤波器系数
+        
+        返回：
+            滤波器系数数组
+        """
+        # 简单实现：使用滑动窗口多项式拟合
+        # 对于实时应用，我们只需要中心点的系数
+        half_window = self.window_length // 2
+        
+        # 构建范德蒙矩阵
+        x = np.arange(-half_window, half_window + 1, dtype=float)
+        A = np.vander(x, self.polyorder + 1, increasing=True)
+        
+        # 使用最小二乘法求解系数
+        # 对于Savitzky-Golay，我们只需要中心点的拟合值
+        # 这相当于取A的伪逆的第一行
+        coeff = np.linalg.pinv(A)[self.deriv]
+        
+        # 考虑微分和采样间隔
+        if self.deriv > 0:
+            for i in range(self.deriv):
+                coeff = np.polyder(coeff)
+            coeff = coeff / (self.delta ** self.deriv)
+        
+        return coeff
+    
+    def update(self, new_value: float) -> float:
+        """
+        更新滤波器并返回滤波后的值
+        
+        参数：
+            new_value: 新的输入值
+        返回：
+            滤波后的值
+        """
+        # 添加到缓冲区
+        self.buffer.append(new_value)
+        
+        # 如果缓冲区未满，直接返回原值
+        if len(self.buffer) < self.window_length:
+            self.history_input.append(new_value)
+            self.history_output.append(new_value)
+            return new_value
+        
+        # 应用Savitzky-Golay滤波
+        # 将缓冲区转换为数组
+        window_data = np.array(self.buffer)
+        
+        # 使用预计算的系数进行卷积
+        filtered_value = np.dot(window_data, self.coefficients)
+        
+        # 记录历史
+        self.history_input.append(new_value)
+        self.history_output.append(filtered_value)
+        
+        # 限制历史长度
+        max_history = 1000
+        if len(self.history_input) > max_history:
+            self.history_input = self.history_input[-max_history:]
+            self.history_output = self.history_output[-max_history:]
+        
+        return filtered_value
+    
+    def update_batch(self, new_values: List[float]) -> List[float]:
+        """
+        批量更新
+        
+        参数：
+            new_values: 新的输入值列表
+        返回：
+            滤波后的值列表
+        """
+        filtered_values = []
+        for value in new_values:
+            filtered = self.update(value)
+            filtered_values.append(filtered)
+        return filtered_values
+    
+    def reset(self):
+        """重置滤波器状态"""
+        self.buffer.clear()
+        self.history_input = []
+        self.history_output = []
+    
+    def get_state(self) -> dict:
+        """获取当前状态"""
+        return {
+            'window_length': self.window_length,
+            'polyorder': self.polyorder,
+            'deriv': self.deriv,
+            'buffer_size': len(self.buffer),
+            'coefficients': self.coefficients.tolist()
+        }
+
+
+class MultiChannelSavitzkyGolayFilter:
+    """
+    多通道Savitzky-Golay滤波器
+    """
+    
+    def __init__(self, num_channels: int, 
+                 window_length: int = 7, polyorder: int = 2,
+                 initial_values: Optional[List[float]] = None):
+        """
+        初始化多通道滤波器
+        
+        参数：
+            num_channels: 通道数量
+            window_length: 窗口长度
+            polyorder: 多项式阶数
+            initial_values: 初始值列表
+        """
+        self.num_channels = num_channels
+        
+        if initial_values is None:
+            initial_values = [0.0] * num_channels
+        elif len(initial_values) != num_channels:
+            raise ValueError(f"初始值长度必须等于通道数 {num_channels}")
+        
+        # 为每个通道创建滤波器
+        self.filters = []
+        for i in range(num_channels):
+            filter_obj = SavitzkyGolayFilter(
+                window_length=window_length,
+                polyorder=polyorder
+            )
+            # 用初始值填充缓冲区
+            for _ in range(window_length // 2):
+                filter_obj.update(initial_values[i])
+            self.filters.append(filter_obj)
+    
+    def update(self, new_values: List[float]) -> List[float]:
+        """
+        更新所有通道
+        
+        参数：
+            new_values: 新的输入值列表
+        返回：
+            滤波后的值列表
+        """
+        if len(new_values) != self.num_channels:
+            raise ValueError(f"输入值长度必须等于通道数 {self.num_channels}")
+        
+        filtered_values = []
+        for i in range(self.num_channels):
+            filtered = self.filters[i].update(new_values[i])
+            filtered_values.append(filtered)
+        
+        return filtered_values
+    
+    def reset(self, initial_values: Optional[List[float]] = None):
+        """重置所有通道"""
+        if initial_values is None:
+            initial_values = [0.0] * self.num_channels
+        
+        for i in range(self.num_channels):
+            self.filters[i].reset()
+            # 用初始值预热
+            for _ in range(self.filters[i].window_length // 2):
+                self.filters[i].update(initial_values[i])
+
+
+class AdaptiveSavitzkyGolayFilter:
+    """
+    自适应Savitzky-Golay滤波器
+    根据信号特性自动调整参数
+    """
+    
+    def __init__(self, 
+                 min_window: int = 5,
+                 max_window: int = 15,
+                 base_polyorder: int = 2,
+                 noise_threshold: float = 0.05,
+                 initial_value: float = 0.0):
+        """
+        初始化自适应滤波器
+        
+        参数：
+            min_window: 最小窗口长度
+            max_window: 最大窗口长度
+            base_polyorder: 基础多项式阶数
+            noise_threshold: 噪声阈值
+            initial_value: 初始值
+        """
+        self.min_window = min_window
+        self.max_window = max_window
+        self.base_polyorder = base_polyorder
+        self.noise_threshold = noise_threshold
+        
+        # 当前滤波器
+        self.current_filter = SavitzkyGolayFilter(
+            window_length=(min_window + max_window) // 2,
+            polyorder=base_polyorder
+        )
+        
+        # 信号特性跟踪
+        self.signal_buffer = deque(maxlen=20)
+        self.current_noise_level = 0.0
+        
+    def update(self, new_value: float) -> float:
+        """
+        自适应更新
+        """
+        # 更新信号缓冲区
+        self.signal_buffer.append(new_value)
+        
+        # 计算信号特性（噪声水平）
+        if len(self.signal_buffer) >= 10:
+            recent_data = np.array(self.signal_buffer)
+            self.current_noise_level = np.std(recent_data)
+        
+        # 根据噪声水平调整窗口大小
+        if len(self.signal_buffer) >= 5:
+            if self.current_noise_level > self.noise_threshold * 2:
+                # 高噪声，使用大窗口强滤波
+                new_window = self.max_window
+            elif self.current_noise_level > self.noise_threshold:
+                # 中等噪声，使用中等窗口
+                new_window = (self.min_window + self.max_window) // 2
+            else:
+                # 低噪声，使用小窗口保留细节
+                new_window = self.min_window
+            
+            # 如果窗口大小需要改变，创建新滤波器
+            if new_window != self.current_filter.window_length:
+                # 获取当前滤波器的输出作为新滤波器的初始状态
+                current_output = self.current_filter.update(new_value)
+                
+                # 创建新滤波器
+                self.current_filter = SavitzkyGolayFilter(
+                    window_length=new_window,
+                    polyorder=min(self.base_polyorder, new_window - 1)
+                )
+                
+                # 用当前输出预热新滤波器
+                for _ in range(new_window // 2):
+                    self.current_filter.update(current_output)
+                
+                return current_output
+        
+        # 使用当前滤波器
+        return self.current_filter.update(new_value)
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/handcore.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/handcore.py
new file mode 100644
index 0000000..a0424ab
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/handcore.py
@@ -0,0 +1,338 @@
+from .config import *
+from .yourdfpy import URDF
+from .constants import RobotName,ROBOT_LEN,ROBOT_LEN_MAP
+import threading
+from pathlib import Path
+
+class HandCore():
+    def __init__(self, hand_config: HandConfig):
+        handconfig = hand_config.handconfig
+        self.baseconfig = hand_config.baseconfig
+        self.retagetconfig = hand_config.retagetconfig
+        self.modelconfig = hand_config.modelconfig
+        robot_dir = hand_config.robot_dir
+        targetpose = hand_config.targetpose
+        self.robot_name_str_r = self.baseconfig["system"]["robotname_r"]
+        self.robot_name_str_l = self.baseconfig["system"]["robotname_l"]
+
+        self.righturdfpath = os.path.join(robot_dir, 'linker_hand', f'{self.robot_name_str_r}_right', f'linkerhand_{self.robot_name_str_r}_right.urdf')
+        urdf_path = Path(self.righturdfpath)
+        if not urdf_path.exists():
+            raise ValueError(f"URDF path {urdf_path} does not exist")
+        self.dataminvalue_r = change_list(handconfig[f'commandlower_right_{self.robot_name_str_r}'])
+        self.datamaxvalue_r = change_list(handconfig[f'commandupper_right_{self.robot_name_str_r}'])
+        self.sourcedataindex_r = change_list(handconfig[f'commandsourcedataindex_right_{self.robot_name_str_r}'])
+        self.urdfdataindex_r = change_list(handconfig[f'urdfdataindex_right_{self.robot_name_str_r}'])
+        self.RightHandId = URDF.load(self.righturdfpath)
+
+
+        self.lefturdfpath = os.path.join(robot_dir, 'linker_hand', f'{self.robot_name_str_l}_left', f'linkerhand_{self.robot_name_str_l}_left.urdf')
+        urdf_path = Path(self.lefturdfpath)
+        if not urdf_path.exists():
+            raise ValueError(f"URDF path {urdf_path} does not exist")
+        self.dataminvalue_l = change_list(handconfig[f'commandlower_left_{self.robot_name_str_l}'])
+        self.datamaxvalue_l = change_list(handconfig[f'commandupper_left_{self.robot_name_str_l}'])
+        self.sourcedataindex_l = change_list(handconfig[f'commandsourcedataindex_left_{self.robot_name_str_l}'])
+        self.urdfdataindex_l = change_list(handconfig[f'urdfdataindex_left_{self.robot_name_str_l}'])
+        self.LeftHandId = URDF.load(self.lefturdfpath)
+
+        self.hand_lower_limits_r, self.hand_upper_limits_r, self.hand_joint_ranges_r = self.get_joint_limits(
+            self.RightHandId)
+        self.hand_lower_limits_l, self.hand_upper_limits_l, self.hand_joint_ranges_l = self.get_joint_limits(
+            self.LeftHandId)
+
+        self.hand_numjoints_r = ROBOT_LEN_MAP[RobotName[self.robot_name_str_r]]
+        self.hand_numjoints_l = ROBOT_LEN_MAP[RobotName[self.robot_name_str_l]]
+
+        if "human" in self.baseconfig["humanset"]["targethandfile"]:
+            self.right_hand_targetpose = np.array(targetpose['initial_positions']['right_hand'])
+            self.left_hand_targetpose = np.array(targetpose['initial_positions']['left_hand'])
+        else:
+            self.right_hand_targetpose = np.array(targetpose['initial_positions']['right_hand'][f'{self.robot_name_str_r}'])
+            self.left_hand_targetpose = np.array(targetpose['initial_positions']['left_hand'][f'{self.robot_name_str_l}'])
+        self.debugcount = 0
+        self.multi_target_kf_r = MultiTargetKalman(self.hand_numjoints_r)
+        self.multi_target_kf_l = MultiTargetKalman(self.hand_numjoints_l)
+
+        # 四元数测试用
+        self.angle = 0
+        self.counter = 0
+
+        # 共享数据
+        self.lock = threading.Lock()  # 线程锁
+        self.right_joint_angles = []  # 存储关节角度等数据
+        self.left_joint_angles = []   # 存储关节角度等数据
+
+    @staticmethod
+    def get_joint_limits(robot):
+        joint_lower_limits = []
+        joint_upper_limits = []
+        joint_ranges = []
+        # 遍历所有关节
+        for joint_name, joint in robot.joint_map.items():
+            # 跳过固定关节
+            if joint.type == "fixed":
+                continue
+            # 获取关节限位值
+            if joint.limit is not None:
+                lower = joint.limit.lower
+                upper = joint.limit.upper
+            else:
+                # 对于没有明确限位的关节，使用默认值
+                # 连续旋转关节使用 ±π
+                if joint.type == "revolute":
+                    lower = -3.1415926535  # -180°
+                    upper = 3.1415926535  # +180°
+                # 平移关节使用 ±1m
+                elif joint.type == "prismatic":
+                    lower = -1.0
+                    upper = 1.0
+                # 其他类型关节使用 ±∞
+                else:
+                    lower = float('-inf')
+                    upper = float('inf')
+            # 添加到结果列表
+            joint_lower_limits.append(lower)
+            joint_upper_limits.append(upper)
+            joint_ranges.append(upper - lower)
+
+        return joint_lower_limits, joint_upper_limits, joint_ranges
+
+    @staticmethod
+    def projection_process(hand_position):
+        qpos = [0.0] * 30
+        cos_theta = 0
+        # 处理拇指部分,占用5个数据位
+        trumb_a = hand_position[0, :]  # 对应MATLAB的 position_rightHand(1,:)
+        trumb_b = hand_position[1, :]
+        trumb_c = hand_position[2, :]
+        trumb_d = hand_position[3, :]  # 夹角顶点
+        trumb_e = hand_position[4, :]
+        # 拇指侧摆部分处理成YZ平面
+        A_proj = np.array([trumb_a[1], trumb_a[2]])
+        B_proj = np.array([trumb_b[1], trumb_b[2]])
+        C_proj = np.array([trumb_c[1], trumb_c[2]])
+        vec_BA_proj = A_proj - B_proj
+        vec_BC_proj = C_proj - B_proj
+        dot_product = np.dot(vec_BA_proj, vec_BC_proj)
+        norm_AB = np.linalg.norm(vec_BA_proj)
+        norm_BC = np.linalg.norm(vec_BC_proj)
+        if norm_AB != 0 and norm_BC != 0:
+            cos_theta = np.arccos(dot_product / (norm_AB * norm_BC))
+        angle_deg = np.pi - cos_theta
+        # 拇指旋转
+        qpos[0] = angle_deg
+
+        # 拇指侧摆部分处理成XY平面
+        A_proj = trumb_a[:2]  # 提取[X, Y]
+        B_proj = trumb_b[:2]
+        C_proj = trumb_c[:2]
+        vec_BA_proj = A_proj - B_proj
+        vec_BC_proj = C_proj - B_proj
+        dot_product = np.dot(vec_BA_proj, vec_BC_proj)
+        norm_AB = np.linalg.norm(vec_BA_proj)
+        norm_BC = np.linalg.norm(vec_BC_proj)
+        if norm_AB != 0 and norm_BC != 0:
+            cos_theta = np.arccos(dot_product / (norm_AB * norm_BC))
+        angle_deg = np.pi - cos_theta
+        # 拇指侧摆
+        qpos[1] = angle_deg
+
+        vecDC = trumb_c - trumb_d  # 对应MATLAB的 vecBA = C - D
+        vecDE = trumb_e - trumb_d  # 对应MATLAB的 vecBC = E - D
+        dot_product = np.dot(vecDC, vecDE)
+        norm_AB = np.linalg.norm(vecDC)
+        norm_BC = np.linalg.norm(vecDE)
+        if norm_AB != 0 and norm_BC != 0:
+            cos_theta = np.pi - np.arccos(dot_product / (norm_AB * norm_BC))
+        # 拇指末端夹角
+        qpos[4] = cos_theta
+
+        vecBC = trumb_b - trumb_c  # 对应MATLAB的 vecBA = C - D
+        vecDC = trumb_d - trumb_c  # 对应MATLAB的 vecBC = E - D
+        dot_product = np.dot(vecDC, vecBC)
+        norm_AB = np.linalg.norm(vecBC)
+        norm_BC = np.linalg.norm(vecDC)
+        if norm_AB != 0 and norm_BC != 0:
+            cos_theta = np.pi - np.arccos(dot_product / (norm_AB * norm_BC))
+        # 拇指中部夹角
+        qpos[3] = cos_theta
+
+        vecAB = trumb_a - trumb_b  # 对应MATLAB的 vecBA = C - D
+        vecBC = trumb_c - trumb_b  # 对应MATLAB的 vecBC = E - D
+        dot_product = np.dot(vecAB, vecBC)
+        norm_AB = np.linalg.norm(vecAB)
+        norm_BC = np.linalg.norm(vecBC)
+        if norm_AB != 0 and norm_BC != 0:
+            cos_theta = np.pi - np.arccos(dot_product / (norm_AB * norm_BC))
+        # 拇指根部夹角
+        qpos[2] = cos_theta
+
+        # 处理四指部分,占用5个数据位
+        # 食指侧摆部分处理成YZ平面
+        for i in range(4):
+            other_a = hand_position[5 + 5 * i, :]
+            other_b = hand_position[6 + 5 * i, :]
+            other_c = hand_position[7 + 5 * i, :]
+            other_d = hand_position[8 + 5 * i, :]  # 夹角顶点
+            other_e = hand_position[9 + 5 * i, :]
+
+            A_proj = np.array([other_b[1], other_b[2] + 0.1])
+            B_proj = np.array([other_b[1], other_b[2]])
+            C_proj = np.array([other_c[1], other_b[2] + 0.1])
+            vecAB = A_proj - B_proj
+            vecBC = C_proj - B_proj
+            dot_product = np.dot(vecAB, vecBC)
+            norm_AB = np.linalg.norm(vecAB)
+            norm_BC = np.linalg.norm(vecBC)
+            if norm_AB != 0 and norm_BC != 0:
+                cos_theta = np.arccos(dot_product / (norm_AB * norm_BC))
+            # 侧摆
+            qpos[5 + 5 * i] = cos_theta
+
+            # 其余四指部分处理成XZ平面
+            # 处理末端CDE3点
+            A_proj = np.array([other_c[0], other_c[2]])
+            B_proj = np.array([other_d[0], other_d[2]])
+            C_proj = np.array([other_e[0], other_e[2]])
+            vecAB = A_proj - B_proj
+            vecBC = C_proj - B_proj
+            dot_product = np.dot(vecAB, vecBC)
+            norm_AB = np.linalg.norm(vecAB)
+            norm_BC = np.linalg.norm(vecBC)
+            if norm_AB != 0 and norm_BC != 0:
+                cos_theta = np.pi - np.arccos(dot_product / (norm_AB * norm_BC))
+            # 末端夹角
+            qpos[9 + 5 * i] = cos_theta
+
+            # 处理中部BCD3点
+            A_proj = np.array([other_b[0], other_b[2]])
+            B_proj = np.array([other_c[0], other_c[2]])
+            C_proj = np.array([other_d[0], other_d[2]])
+            vecAB = A_proj - B_proj
+            vecBC = C_proj - B_proj
+            dot_product = np.dot(vecAB, vecBC)
+            norm_AB = np.linalg.norm(vecAB)
+            norm_BC = np.linalg.norm(vecBC)
+            cos_theta = np.pi - np.arccos(dot_product / (norm_AB * norm_BC))
+            # 中部夹角
+            qpos[8 + 5 * i] = cos_theta
+
+            # 处理根部ABC3点
+            A_proj = np.array([other_a[0], other_a[2]])
+            B_proj = np.array([other_b[0], other_b[2]])
+            C_proj = np.array([other_c[0], other_c[2]])
+            vecAB = A_proj - B_proj
+            vecBC = C_proj - B_proj
+            dot_product = np.dot(vecAB, vecBC)
+            norm_AB = np.linalg.norm(vecAB)
+            norm_BC = np.linalg.norm(vecBC)
+            if norm_AB != 0 and norm_BC != 0:
+                cos_theta = np.pi - np.arccos(dot_product / (norm_AB * norm_BC))
+            # 根部夹角
+            qpos[7 + 5 * i] = cos_theta
+        return qpos
+
+    def trans_to_motor_left(self, temp_l):
+        jointpositions_l = [255.0] * self.hand_numjoints_l
+        for i in range(self.hand_numjoints_l):
+            if self.sourcedataindex_l[i] is not None:
+                val_l = temp_l[self.sourcedataindex_l[i]]
+                val_l = is_within_range(val_l,
+                                        self.hand_lower_limits_l[self.urdfdataindex_l[i]],
+                                        self.hand_upper_limits_l[self.urdfdataindex_l[i]])
+                jointpositions_l[i] = int(scale_value(val_l,
+                                                      self.hand_lower_limits_l[self.urdfdataindex_l[i]],
+                                                      self.hand_upper_limits_l[self.urdfdataindex_l[i]],
+                                                      self.dataminvalue_l[i],
+                                                      self.datamaxvalue_l[i]))
+        return jointpositions_l
+
+    def trans_to_motor_right(self, temp_r):
+        jointpositions_r = [255.0] * self.hand_numjoints_r
+        for i in range(self.hand_numjoints_r):
+            if self.sourcedataindex_r[i] is not None:
+                val_r = temp_r[self.sourcedataindex_r[i]]
+                val_r = is_within_range(val_r,
+                                        self.hand_lower_limits_r[self.urdfdataindex_r[i]],
+                                        self.hand_upper_limits_r[self.urdfdataindex_r[i]])
+
+                jointpositions_r[i] = int(scale_value(val_r,
+                                                      self.hand_lower_limits_r[self.urdfdataindex_r[i]],
+                                                      self.hand_upper_limits_r[self.urdfdataindex_r[i]],
+                                                      self.dataminvalue_r[i],
+                                                      self.datamaxvalue_r[i]))
+        return jointpositions_r
+
+
+    def generate_position(self, quaternion_r, quaternion_l):
+        rootorin_correct_r = get_quaternion_relative(trans_wxyzori_to_xyzwori(quaternion_r[0]),
+                                                     [0, 0, 0, 1])
+        rootorin_correct_l = get_quaternion_relative(trans_wxyzori_to_xyzwori(quaternion_l[0]),
+                                                     [0, 0, 0, 1])
+        handorin_correct_r = []
+        handorin_correct_l = []
+        for i in range(20):
+            handorin_correct_r.append(
+                trans_xyzwori_to_wxyzori(get_child_quaternion(trans_wxyzori_to_xyzwori(quaternion_r[i]),
+                                                              rootorin_correct_r)))
+        for i in range(20):
+            handorin_correct_l.append(
+                trans_xyzwori_to_wxyzori(get_child_quaternion(trans_wxyzori_to_xyzwori(quaternion_l[i]),
+                                                              rootorin_correct_l)))
+
+        right_hand_pose = quat2handposition(handorin_correct_r, self.right_hand_targetpose)
+        left_hand_pose = quat2handposition(handorin_correct_l, self.left_hand_targetpose)
+
+        # 绕 Y 轴的旋转-90度
+        Ry = rotate_matrix_y(np.radians(-90))
+        right_hand_pose = np.dot(Ry, right_hand_pose.T).T
+        # 先绕 Z 轴的旋转180度再绕Y轴旋转-90度
+        Rz = rotate_matrix_z(np.radians(-180))
+        left_hand_pose = np.dot(Rz, left_hand_pose.T).T
+        Ry = rotate_matrix_y(np.radians(-90))
+        left_hand_pose = np.dot(Ry, left_hand_pose.T).T
+        return right_hand_pose, left_hand_pose
+
+    def update_angles(self, rightangles, leftangle):
+        with self.lock:
+            self.right_joint_angles = rightangles
+            self.left_joint_angles = leftangle
+
+    def get_angles(self):
+        with self.lock:
+            return self.right_joint_angles.copy(), self.left_joint_angles.copy()
+
+class KalmanFilter:
+    def __init__(self, process_variance, measurement_variance, estimated_error, initial_value):
+        self.process_variance = process_variance  # 过程噪声
+        self.measurement_variance = measurement_variance  # 测量噪声
+        self.estimated_error = estimated_error  # 初始估计误差
+        self.current_estimate = initial_value  # 初始值
+
+    def update(self, measurement):
+        # 预测更新
+        self.estimated_error += self.process_variance
+
+        # 计算卡尔曼增益
+        kalman_gain = self.estimated_error / (self.estimated_error + self.measurement_variance)
+
+        # 更新估计值
+        self.current_estimate += kalman_gain * (measurement - self.current_estimate)
+        # 更新误差
+        self.estimated_error *= (1 - kalman_gain)
+
+        return self.current_estimate
+
+
+class MultiTargetKalman:
+    def __init__(self, num_targets, process_variance=0.01, measurement_variance=0.1, estimated_error=1,
+                 initial_value=255):
+        self.kalman_filters = [KalmanFilter(process_variance, measurement_variance, estimated_error, initial_value) for
+                               _ in range(num_targets)]
+        self.num_targets = num_targets
+        self.smoothed_data = [[] for _ in range(num_targets)]
+
+    def update(self, measurements, index):
+        smooth_value = self.kalman_filters[index].update(measurements)
+        return smooth_value
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/handcoreex.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/handcoreex.py
new file mode 100644
index 0000000..64a6a4b
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/handcoreex.py
@@ -0,0 +1,940 @@
+"""
+多态线性映射器
+支持任意数量的状态
+"""
+import numpy as np
+from colorama import Fore, init
+from typing import List, Dict, Tuple
+from .filter import MultiChannelLCFilter, MultiChannelSavitzkyGolayFilter, MultiChannelKalmanFilter
+
+class MultiStateLinearMapper:
+    """
+    多态线性映射器
+    支持任意数量的手势状态
+    """
+    
+    def __init__(self,FINGER_CONFIGS,MAPPING_ORDER,is_debug = False):
+        self.finger_configs = FINGER_CONFIGS.copy()
+        self.mapping_order = MAPPING_ORDER.copy()
+        
+        # 状态存储
+        self.glove_states = {}  # {状态名: 手套角度数组}
+        self.robot_states = {}  # {状态名: 机械手角度数组}
+        self.state_order = []   # 状态顺序列表
+        self.debug_value = [0.0] * 20  # 长度20的debug缓冲数据
+        self.isdebug = is_debug
+        self.debug_fingers = None  # None=全部, []=全部, ["finger_name"]=指定手指
+
+        # self.filters = MultiChannelLCFilter(num_channels=11, alpha=0.1)
+        num_joints = 21
+        
+        # 创建多通道Savitzky-Golay滤波器
+        self.filters = MultiChannelKalmanFilter(
+            num_channels=num_joints,
+            process_variance=1e-5,
+            measurement_variance=0.0005,
+            initial_values=[0.0] * num_joints
+        )
+
+        # self.filters = MultiChannelSavitzkyGolayFilter(
+        #     num_channels=num_joints,
+        #     window_length=,
+        #     polyorder=3
+        # )
+
+        # 滤波参数
+        # self.filter_params = {
+        #     'window_length': 7,
+        #     'polyorder': 2,
+        #     'filter_type': 'Savitzky-Golay'
+        # }
+        
+        # 历史记录（用于调试和可视化）
+        self.raw_history = []
+        self.filtered_history = []
+    
+    def add_state(self, state_name: str,
+                  glove_angles: List[float],
+                  robot_angles: List[float]):
+        """
+        添加一个手势状态
+        
+        参数：
+            state_name: 状态名称，如 'original', 'opose', 'fist'等
+            glove_angles: 手套角度 (21维)
+            robot_angles: 机械手角度 (11维)
+        """
+        self.glove_states[state_name] = np.array(glove_angles)
+        self.robot_states[state_name] = np.array(robot_angles)
+        
+        if state_name not in self.state_order:
+            self.state_order.append(state_name)
+    
+    def remove_state(self, state_name: str):
+        """移除一个状态"""
+        if state_name in self.glove_states:
+            del self.glove_states[state_name]
+            del self.robot_states[state_name]
+            if state_name in self.state_order:
+                self.state_order.remove(state_name)
+    
+    def set_state_order(self, state_order: List[str]):
+        """
+        设置状态顺序（从原始到最弯曲）
+        
+        示例：
+            ['original', 'opose', 'fist']
+        """
+        # 验证所有状态都存在
+        for state in state_order:
+            if state not in self.glove_states:
+                raise ValueError(f"状态 '{state}' 未定义")
+        
+        self.state_order = state_order
+    
+    def map_glove_to_robot(self, glove_current):
+        """
+        动态权重映射
+        在映射过程中根据其他手指状态调整权重
+        """
+        
+        if isinstance(glove_current, np.ndarray):
+            glove_current = glove_current.tolist()
+        elif isinstance(glove_current, list):
+            glove_current = glove_current
+        else:
+            glove_current = list(glove_current)
+
+        if len(self.state_order) < 2:
+            raise ValueError("请至少设置两个状态")
+        
+        if 'original' not in self.glove_states:
+            raise ValueError("必须包含 'original' 状态作为基准")
+        
+        glove_current_arr = np.array(glove_current)
+        robot_angles = self.robot_states['original'].copy()
+        
+        for config_name in self.mapping_order:
+            config = self.finger_configs[config_name]
+            angle = self._map_finger_multi_state(glove_current_arr, config)
+            robot_angles[config['robot_idx']] = angle
+
+        # self.debug_value[config['robot_idx']] = angle
+
+        
+        
+        return robot_angles
+    
+    def _map_finger_multi_state(self, glove_current: np.ndarray, 
+                               config: dict) -> float:
+        """
+        多状态手指映射
+        """
+        joints = config['joints']
+        weights = self._normalize_weights(config['weights'])
+        robot_idx = config['robot_idx']
+        
+        # 计算当前融合值
+        current_fused = self._calculate_fused_value(
+            glove_current, joints, weights
+        )
+        # self.debug_value[robot_idx] = current_fused
+        
+        # 计算所有状态的融合值
+        state_fused_values = {}
+        for state_name in self.state_order:
+            fused = self._calculate_reference_fused(
+                joints, weights, self.glove_states[state_name]
+            )
+            state_fused_values[state_name] = fused
+        
+        # 获取所有状态的角度
+        state_angles = {}
+        for state_name in self.state_order:
+            state_angles[state_name] = self.robot_states[state_name][robot_idx]
+        
+        # 分段线性插值
+        result_angle = self._multi_state_interpolation(
+            current_fused, state_fused_values, state_angles
+        )
+        
+        # 处理反向运动
+        if config.get('reverse_motion', True):
+            # 找到最小和最大角度
+            min_angle = min(state_angles.values())
+            max_angle = max(state_angles.values())
+            
+            result_angle = max_angle - (result_angle - min_angle)
+            # print("触发反向运动")
+        
+        return result_angle
+    
+    def _calculate_fused_value(self, data: np.ndarray,
+                            joints: List[int],
+                            weights) -> float:
+        """
+        完整的融合值计算，处理上下限越界
+        """
+        # 确保有原始状态
+        if 'original' not in self.glove_states:
+            return 0.0
+        
+        original = self.glove_states['original']
+        weights = np.array(weights)
+        
+        # 归一化权重
+        if np.sum(weights) > 0:
+            weights = weights / np.sum(weights)
+        
+        fused = 0.0
+        
+        for i, idx in enumerate(joints):
+            # 获取当前值和原始值
+            current = data[idx]
+            orig = original[idx]
+            
+            # 步骤1: 找到该关节在所有状态中的最小值和最大值
+            all_vals = [orig]
+            for state_data in self.glove_states.values():
+                all_vals.append(state_data[idx])
+            
+            min_val = min(all_vals)
+            max_val = max(all_vals)
+            
+            # 步骤2: 截断当前值到[min_val, max_val]范围
+            clamped = np.clip(current, min_val, max_val)
+            
+            # 步骤3: 计算归一化位置
+            if abs(max_val - min_val) < 1e-6:
+                normalized_diff = 0.0
+            else:
+                orig_norm = (orig - min_val) / (max_val - min_val)
+                clamped_norm = (clamped - min_val) / (max_val - min_val)
+                normalized_diff = abs(clamped_norm - orig_norm)
+            
+            fused += weights[i] * normalized_diff
+        return fused
+    
+    def _calculate_reference_fused(self, joints: List[int],
+                                  weights: np.ndarray,
+                                  reference_data: np.ndarray) -> float:
+        """
+        计算参考融合值
+        """
+        return self._calculate_fused_value(reference_data, joints, weights)
+    
+    def _multi_state_interpolation(self, current_fused: float,
+                                  state_fused_values: Dict[str, float],
+                                  state_angles: Dict[str, float]) -> float:
+        """
+        多状态分段线性插值
+        """
+        # 确保状态顺序正确
+        if not self.state_order:
+            return 0.0
+        
+        # 处理边界情况
+        if current_fused <= state_fused_values[self.state_order[0]]:
+            return state_angles[self.state_order[0]]
+        
+        if current_fused >= state_fused_values[self.state_order[-1]]:
+            return state_angles[self.state_order[-1]]
+        
+        # 找到当前融合值所在区间
+        for i in range(len(self.state_order) - 1):
+            state1 = self.state_order[i]
+            state2 = self.state_order[i + 1]
+            
+            fused1 = state_fused_values[state1]
+            fused2 = state_fused_values[state2]
+            
+            # 确保区间有效
+            if fused1 <= current_fused <= fused2:
+                if fused2 - fused1 > 1e-6:
+                    t = (current_fused - fused1) / (fused2 - fused1)
+                else:
+                    t = 0.0
+                
+                angle1 = state_angles[state1]
+                angle2 = state_angles[state2]
+                return angle1 + t * (angle2 - angle1)
+        
+        # 如果没有找到区间（理论上不会发生），返回最近状态的角度
+        min_diff = float('inf')
+        nearest_angle = 0.0
+        for state_name in self.state_order:
+            diff = abs(current_fused - state_fused_values[state_name])
+            if diff < min_diff:
+                min_diff = diff
+                nearest_angle = state_angles[state_name]
+        
+        return nearest_angle
+    
+    def _normalize_weights(self, weights: List[float]) -> List[float]:
+        """
+        归一化权重
+        """
+        if hasattr(weights, 'tolist'):
+            # 如果是 NumPy 数组
+            weight_list = weights.tolist()
+        elif isinstance(weights, list):
+            # 如果已经是列表
+            weight_list = weights
+        else:
+            # 其他情况，尝试转换
+            weight_list = list(weights)
+        total = np.sum(weight_list)
+        if total > 0:
+            result_array = weight_list / total
+        else:
+            result_array = weight_list
+        
+        # 关键：转换回列表
+        return result_array.tolist()
+    
+    def get_state_info(self) -> Dict:
+        """
+        获取状态信息
+        """
+        # 基础信息
+        info = {
+            'states': list(self.glove_states.keys()),
+            'state_order': self.state_order,
+            'has_original': 'original' in self.glove_states
+        }
+        
+        return info
+       
+    
+    def clear_states(self):
+        """清除所有状态"""
+        self.glove_states.clear()
+        self.robot_states.clear()
+        self.state_order.clear()
+
+    def set_debug(self, enabled):
+        """
+        设置 debug 模式
+        
+        Args:
+            enabled: bool 或 list
+                - True: 开启调试，显示全部手指
+                - False: 关闭调试
+                - []: 开启调试，显示全部手指
+                - ["finger_name", ...]: 开启调试，只显示指定手指
+        """
+        if isinstance(enabled, bool):
+            self.isdebug = enabled
+            self.debug_fingers = None
+        elif isinstance(enabled, list):
+            self.isdebug = True
+            self.debug_fingers = enabled if enabled else None
+        else:
+            self.isdebug = bool(enabled)
+            self.debug_fingers = None
+
+    def _should_debug(self, finger_name: str) -> bool:
+        """检查是否应该输出该手指的调试信息"""
+        if not self.isdebug:
+            return False
+        if self.debug_fingers is None:
+            return True
+        return finger_name in self.debug_fingers
+
+
+class DynamicWeightMultiStateLinearMapper(MultiStateLinearMapper):
+    """
+    动态权重多态线性映射器
+    继承自MultiStateLinearMapper，增加动态权重调整功能
+    增加扩展线性映射功能：基于open/opose线性映射，可以继续延伸
+    """
+    
+    def __init__(self, FINGER_CONFIGS, MAPPING_ORDER,is_debug=False):
+        super().__init__(FINGER_CONFIGS, MAPPING_ORDER,is_debug)
+        
+        # 动态权重配置
+        self.dynamic_weight_configs = {}
+        
+        # 扩展映射配置
+        self.extended_mapping_enabled = {}
+        self.scale_factors = {}
+        self.exp_factors = {}
+        # self.isdebug = is_debug
+        # 缓存计算过的关节映射值
+        self.cached_mapped_values = {}
+        
+        # 从配置表初始化扩展映射
+        self._init_extended_mapping_from_config()
+
+    def _init_extended_mapping_from_config(self):
+        """从配置表初始化扩展映射设置"""
+        for finger_name, config in self.finger_configs.items():
+            if config.get('dynamic_weight'):
+                self.set_dynamic_weight_config(finger_name, config['dynamic_weight'])
+            ext_config = config.get('extended_mapping')
+            if ext_config and ext_config.get('enabled', False):
+                self.extended_mapping_enabled[finger_name] = True
+                
+                # 设置缩放因子
+                scale_factor = ext_config.get('scale_factor', 1.0)
+                if scale_factor != 1.0:
+                    self.scale_factors[finger_name] = scale_factor
+                exp_factor = ext_config.get('extended_exp_factor', 1.0)
+                if exp_factor != 1.0:
+                    self.exp_factors[finger_name] = exp_factor
+    
+    def set_dynamic_weight_config(self, finger_name: str, config: Dict):
+        """
+        设置动态权重配置
+        """
+        self.dynamic_weight_configs[finger_name] = config
+    
+    def set_extended_mapping(self, finger_name: str, enabled: bool = True, 
+                            scale_factor: float = 1.0):
+        """
+        手动设置扩展映射
+        
+        参数：
+            finger_name: 手指名称
+            enabled: 是否启用扩展映射
+            scale_factor: 缩放因子，>1加快映射，<1减慢映射
+        """
+        self.extended_mapping_enabled[finger_name] = enabled
+        if scale_factor != 1.0:
+            self.scale_factors[finger_name] = scale_factor
+    
+    def fit_exp_factor(self, finger_name: str, current_fused: float, 
+                       fused_open: float, fused_opose: float,
+                       angle_open: float, angle_opose: float, angle_fist: float) -> float:
+        """
+        根据当前握拳值自动拟合延伸因子
+        
+        目标：使 current_fused 映射到 angle_fist
+        
+        公式：extension = slope * t * (1 + (exp-1) * t)
+        其中 slope = angle_opose - angle_open, t = normalized - 1
+        
+        参数：
+            finger_name: 手指名称
+            current_fused: 当前握拳时的融合值
+            fused_open: 张开时的融合值
+            fused_opose: O型时的融合值
+            angle_open: 张开时的机械手角度
+            angle_opose: O型时的机械手角度
+            angle_fist: 握拳极限时的机械手角度
+            
+        返回：
+            计算出的延伸因子
+        """
+        if abs(fused_opose - fused_open) < 1e-6:
+            return 1.0
+        
+        normalized = (current_fused - fused_open) / (fused_opose - fused_open)
+        
+        if normalized <= 1.0:
+            return 1.0
+        
+        t = normalized - 1.0
+        
+        slope = angle_opose - angle_open
+        target_extension = angle_fist - angle_opose
+        
+        if abs(slope * t) < 1e-6 or abs(target_extension) < 1e-6:
+            return 1.0
+        
+        base_extension = slope * t
+        ratio = target_extension / base_extension
+        
+        exp_factor = (ratio - 1.0) / t + 1.0
+        
+        return max(1.0, min(100.0, exp_factor))
+    
+    def _apply_scale_factor(self, fused_value: float, 
+                        fused_open: float, fused_opose: float, 
+                        finger_name: str) -> float:
+        """
+        应用缩放因子，基于归一化的[0,1]范围
+        
+        参数：
+            fused_value: 原始融合值
+            fused_open: open状态的融合值（映射到0）
+            fused_opose: opose状态的融合值（映射到1）
+            finger_name: 手指名称
+        """
+        scale_factor = self.scale_factors.get(finger_name, 1.0)
+        
+        if scale_factor == 1.0:
+            return fused_value
+        
+        # 将原始融合值归一化到[0,1]范围
+        # 融合值范围 [fused_open, fused_opose] -> [0, 1]
+        if abs(fused_opose - fused_open) < 1e-6:
+            normalized = 0.0
+        else:
+            normalized = (fused_value - fused_open) / (fused_opose - fused_open)
+        
+        # 如果已经到达 opose 位置，不应用缩放
+        if abs(normalized - 1.0) < 1e-6:
+            return fused_value
+        
+        # 应用缩放因子到归一化的值
+        scaled_normalized = normalized * scale_factor
+        
+        # 将缩放后的归一化值转换回原始融合值范围
+        scaled_fused = fused_open + scaled_normalized * (fused_opose - fused_open)
+        
+        return scaled_fused
+    
+    def _get_max_angle(self, robot_idx: int) -> float:
+        """
+        获取关节的最大角度
+        如果有fist状态，使用fist状态的角度作为最大角度
+        否则使用默认的最大角度
+        """
+        # 如果有fist状态，使用fist状态的角度
+        if 'fist' in self.robot_states:
+            return self.robot_states['fist'][robot_idx]
+        
+        # 默认最大角度（可以根据需要调整）
+        return 1.57  # 默认90度
+    
+    def map_glove_to_robot(self, source_current):
+        """
+        动态权重映射
+        在映射过程中根据其他手指状态调整权重
+        """
+        self.debug_value[3] = source_current[1]
+
+        glove_current = self.filters.update(source_current)
+        # 应用Savitzky-Golay滤波
+        # filtered_angles = self.filters.update(robot_angles)
+        
+        # 记录历史（用于调试和分析）
+        self.raw_history.append(source_current.copy())
+        self.filtered_history.append(glove_current.copy())
+
+        # filtered_angles = self.filters.update(robot_angles)
+        # 限制历史记录长度
+        max_history = 100
+        if len(self.raw_history) > max_history:
+            self.raw_history = self.raw_history[-max_history:]
+            self.filtered_history = self.filtered_history[-max_history:]
+
+        self.debug_value[4] = glove_current[1]
+
+        if isinstance(glove_current, np.ndarray):
+            glove_current = glove_current.tolist()
+        elif isinstance(glove_current, list):
+            glove_current = glove_current
+        else:
+            glove_current = list(glove_current)
+
+        if len(self.state_order) < 2:
+            raise ValueError("请至少设置两个状态")
+        
+        if 'original' not in self.glove_states:
+            raise ValueError("必须包含 'original' 状态作为基准")
+        
+        # 重置缓存
+        self.cached_mapped_values = {}
+         
+        glove_current_arr = np.array(glove_current)
+        robot_angles = self.robot_states['original'].copy()
+        
+        # 第一遍：计算所有需要用于触发判断的手指映射值
+        for config_name in self.mapping_order:
+            if config_name in self.dynamic_weight_configs:
+                trigger_finger = self.dynamic_weight_configs[config_name]['trigger_finger']
+                # 先计算触发手指的映射值
+                if trigger_finger not in self.cached_mapped_values:
+                    trigger_value = self._calculate_trigger_value(
+                        glove_current_arr, trigger_finger
+                    )
+                    self.cached_mapped_values[trigger_finger] = trigger_value
+                    
+        
+        i = 0
+        # 第二遍：使用动态权重进行映射
+        for config_name in self.mapping_order:
+            # 获取动态配置（如果有）
+            dynamic_config = self.dynamic_weight_configs.get(config_name)
+            
+            if dynamic_config:
+                # 使用动态权重进行映射
+                config = self.finger_configs[config_name]
+                angle = self._map_finger_dynamic_weight(
+                    glove_current_arr, config_name, dynamic_config, config
+                )
+            else:
+                # 使用多状态方法映射（支持扩展映射）
+                config = self.finger_configs[config_name]
+                angle = self._map_finger_multi_state(glove_current_arr, config)
+            
+            robot_idx = self.finger_configs[config_name]['robot_idx']
+            robot_angles[robot_idx] = angle
+
+
+        return robot_angles
+    
+    def _calculate_trigger_value(self, glove_current: np.ndarray, 
+                               trigger_finger: str) -> float:
+        """
+        计算触发手指的归一化映射值（0-1范围）
+        
+        返回：
+            归一化的映射值，0表示原始状态，1表示最弯曲状态
+        """
+        if trigger_finger not in self.finger_configs:
+            raise ValueError(f"触发手指配置 '{trigger_finger}' 不存在")
+        
+        config = self.finger_configs[trigger_finger]
+        
+        # 计算当前融合值
+        joints = config['joints']
+        weights = self._normalize_weights(config['weights'])
+
+        current_fused = self._calculate_fused_value(
+            glove_current, joints, weights
+        )
+        
+        # 计算所有状态的融合值
+        state_fused_values = {}
+        for state_name in self.state_order:
+            fused = self._calculate_reference_fused(
+                joints, weights, self.glove_states[state_name]
+            )
+            state_fused_values[state_name] = fused
+        
+        # 归一化到0-1范围
+        min_fused = min(state_fused_values.values())
+        max_fused = max(state_fused_values.values())
+        
+        if abs(max_fused - min_fused) < 1e-6:
+            return 0.0
+        
+        normalized = (current_fused - min_fused) / (max_fused - min_fused)
+        return np.clip(normalized, 0.0, 1.0)
+    
+    def _map_finger_dynamic_weight(self, glove_current: np.ndarray,
+                                  finger_name: str,
+                                  dynamic_config: Dict,
+                                  base_config: Dict) -> float:
+        """
+        使用动态权重进行手指映射
+        """
+        # 获取触发值
+        trigger_finger = dynamic_config['trigger_finger']
+        if trigger_finger not in self.cached_mapped_values:
+            trigger_value = self._calculate_trigger_value(
+                glove_current, trigger_finger
+            )
+            self.cached_mapped_values[trigger_finger] = trigger_value
+        else:
+            trigger_value = self.cached_mapped_values[trigger_finger]
+        
+        # 根据阈值选择配置
+        threshold = dynamic_config['threshold']
+        temp_config = self.finger_configs[finger_name].copy()  # 默认使用基础配置
+
+        if trigger_value < threshold:
+            weight_config = dynamic_config['low_weight_config']
+            # 创建临时配置
+            
+            temp_config['joints'] = weight_config['joints']
+            temp_config['weights'] = weight_config['weights']
+            if 'reverse_motion' in weight_config:
+                temp_config['reverse_motion'] = weight_config['reverse_motion']
+            else:
+                temp_config['reverse_motion'] = base_config.get('reverse_motion', False)      
+        else:
+          # 使用高权重配置
+            weight_config = dynamic_config.get('high_weight_config', {})
+            # 创建临时配置，合并基础配置和高权重配置
+            if weight_config:  # 如果有高权重配置
+                temp_config['joints'] = weight_config.get('joints', temp_config['joints'])
+                temp_config['weights'] = weight_config.get('weights', temp_config['weights'])
+                # 优先使用高权重配置的reverse_motion
+                if 'reverse_motion' in weight_config:
+                    temp_config['reverse_motion'] = weight_config['reverse_motion']
+        
+        # 使用临时配置进行映射（支持扩展映射）
+        return self._map_finger_multi_state(glove_current, temp_config)
+    
+    def _map_finger_multi_state(self, glove_current: np.ndarray,
+                               config: dict) -> float:
+        """
+        手指映射主方法
+        支持扩展映射和原始多状态映射
+        """
+        # 查找手指名称
+        finger_name = None
+        for name, cfg in self.finger_configs.items():
+            if cfg['robot_idx'] == config['robot_idx']:
+                finger_name = name
+                break
+        # print(self.extended_mapping_enabled)
+        # 检查是否启用扩展映射
+        if (finger_name and finger_name in self.extended_mapping_enabled and 
+            self.extended_mapping_enabled[finger_name]):
+            # print("触发线性映射")
+            return self._map_finger_extended(glove_current, config, finger_name)
+        else:
+            # 使用原始的多状态映射
+            return self._map_finger_original(glove_current, config, finger_name)
+    
+    def _map_finger_original(self, glove_current: np.ndarray, 
+                            config: dict, finger_name: str = None) -> float:
+        """
+        原始的多状态手指映射
+        """
+        joints = config['joints']
+        weights = self._normalize_weights(config['weights'])
+        robot_idx = config['robot_idx']
+        
+        # 计算当前融合值
+        current_fused = self._calculate_fused_value(
+            glove_current, joints, weights
+        )
+        
+        # 计算所有状态的融合值
+        state_fused_values = {}
+        for state_name in self.state_order:
+            fused = self._calculate_reference_fused(
+                joints, weights, self.glove_states[state_name]
+            )
+            state_fused_values[state_name] = fused
+        
+        # 获取所有状态的角度
+        state_angles = {}
+        for state_name in self.state_order:
+            state_angles[state_name] = self.robot_states[state_name][robot_idx]
+        
+        if self._should_debug(finger_name):
+            print(f"\n=== {finger_name} 调试信息 (original) ===")
+            print(f"启用状态: {self.state_order}")
+            print(f"权重: {config['weights']}")
+            joints = config['joints']
+            glove_joints_vals = {f"glove[{j}]": glove_current[j] for j in joints}
+            print(f"手套数据: {glove_joints_vals}")
+            print(f"融合值: {current_fused:.6f}")
+            print(f"状态融合值: {state_fused_values}")
+            print(f"状态角度: {state_angles}")
+        
+        # 分段线性插值
+        result_angle = self._multi_state_interpolation(
+            current_fused, state_fused_values, state_angles
+        )
+        
+        if self._should_debug(finger_name):
+            print(f"插值结果: {result_angle:.6f}")
+        
+        # 处理反向运动
+        if config.get('reverse_motion', True):
+            # 找到最小和最大角度
+            min_angle = min(state_angles.values())
+            max_angle = max(state_angles.values())
+            
+            result_angle = max_angle - (result_angle - min_angle)
+            if self._should_debug(finger_name):
+                print(f"reverse_motion=True, 反转后: {result_angle:.6f}")
+        
+        return result_angle
+    
+    def _map_finger_extended(self, glove_current: np.ndarray,
+                            config: dict, finger_name: str) -> float:
+        """
+        多段映射实现
+        
+        根据 state_order 决定映射段数：
+        - ['origin', 'opose', 'fist'] → 三段映射，截断到 fist
+        - ['origin', 'opose'] + extended_mapping.enabled=True → 两段映射，延伸到 fist 截断
+        - ['origin', 'opose'] + extended_mapping.enabled=False → 两段映射，截断到 opose
+        """
+        joints = config['joints']
+        weights = self._normalize_weights(config['weights'])
+        robot_idx = config['robot_idx']
+        
+        # 获取启用的状态列表
+        states = self.state_order
+        num_states = len(states)
+        
+        if num_states < 2:
+            print(f"警告：状态数量不足，回退到原始映射")
+            return self._map_finger_original(glove_current, config)
+        
+        # 计算当前融合值
+        current_fused_raw = self._calculate_fused_value(glove_current, joints, weights)
+        
+        # 计算第一个和最后一个状态的融合值
+        fused_first = self._calculate_reference_fused(joints, weights, self.glove_states[states[0]])
+        fused_last = self._calculate_reference_fused(joints, weights, self.glove_states[states[-1]])
+        
+        # 应用缩放因子
+        current_fused = self._apply_scale_factor(current_fused_raw, fused_first, fused_last, finger_name)
+        
+        # 获取第一个和最后一个状态的角度
+        angle_first = self.robot_states[states[0]][robot_idx]
+        angle_last = self.robot_states[states[-1]][robot_idx]
+        
+        # 确保顺序正确
+        if angle_first > angle_last:
+            angle_first, angle_last = angle_last, angle_first
+        
+        if self._should_debug(finger_name):
+            print(f"\n=== {finger_name} 调试信息 ===")
+            print(f"启用状态: {states}")
+            print(f"权重: {config['weights']}")
+            print(f"原始融合值: {current_fused_raw:.6f}")
+            print(f"缩放后融合值: {current_fused:.6f}")
+            print(f"融合值范围: [{fused_first:.6f}, {fused_last:.6f}]")
+            print(f"机械手角度范围: [{angle_first:.6f}, {angle_last:.6f}]")
+        
+        # 归一化融合值
+        if abs(fused_last - fused_first) < 1e-6:
+            normalized_fused = 0.5
+        else:
+            normalized_fused = (current_fused - fused_first) / (fused_last - fused_first)
+        
+        if self._should_debug(finger_name):
+            print(f"归一化融合值: {normalized_fused:.6f}")
+        
+        # 判断是否需要延伸（只有 original + opose 两段模式才启用）
+        extrapolation_enabled = self.extended_mapping_enabled.get(finger_name, False)
+        use_extrapolation = extrapolation_enabled and states == ['original', 'opose']
+        
+        if num_states >= 3:
+            result_angle = self._multi_state_map(joints, weights, robot_idx, current_fused_raw, finger_name)
+        elif use_extrapolation:
+            result_angle = self._extrapolate_to_fist(
+                current_fused, fused_first, fused_last, 
+                angle_first, angle_last, robot_idx, finger_name, joints, weights
+            )
+        else:
+            result_angle = self._two_state_map(
+                current_fused, fused_first, fused_last,
+                angle_first, angle_last, finger_name
+            )
+        
+        if config.get('reverse_motion', False):
+            min_angle = min(angle_first, angle_last)
+            max_angle = max(angle_first, angle_last)
+            clamped = np.clip(result_angle, min_angle, max_angle)
+            result_angle = max_angle - (clamped - min_angle)
+        
+        return result_angle
+    
+    def _multi_state_map(self, joints, weights, robot_idx, current_fused, finger_name):
+        """多段映射：使用所有启用的状态进行分段插值"""
+        state_fused_values = {}
+        state_angles = {}
+        
+        for state_name in self.state_order:
+            fused = self._calculate_reference_fused(joints, weights, self.glove_states[state_name])
+            state_fused_values[state_name] = fused
+            state_angles[state_name] = self.robot_states[state_name][robot_idx]
+        
+        result_angle = self._multi_state_interpolation(current_fused, state_fused_values, state_angles)
+        
+        if self._should_debug(finger_name):
+            print(f"多段映射结果: {result_angle:.6f}")
+        
+        return result_angle
+    
+    def _extrapolate_to_fist(self, current_fused, fused_first, fused_last, 
+                             angle_first, angle_last, robot_idx, finger_name, joints, weights):
+        """两段映射 + 延伸映射，截断到 fist 角度"""
+        if abs(fused_last - fused_first) < 1e-6:
+            normalized = 0.5
+        else:
+            normalized = (current_fused - fused_first) / (fused_last - fused_first)
+        
+        if self._should_debug(finger_name):
+            print(f"归一化融合值: {normalized:.6f}")
+        
+        exp_factor = self.exp_factors.get(finger_name, 1.0)
+        slope = angle_last - angle_first
+        
+        if normalized <= 0:
+            result_angle = angle_first
+            if self._should_debug(finger_name):
+                print(f"归一化值<=0: result_angle={result_angle:.6f}")
+        elif normalized <= 1:
+            result_angle = angle_first + normalized * slope
+            if self._should_debug(finger_name):
+                print(f"归一化值在[0,1]: result_angle={result_angle:.6f}")
+        else:
+            t = normalized - 1.0
+            extension = slope * t * (1.0 + (exp_factor - 1.0) * t)
+            result_angle = angle_last + extension
+            
+            if self._should_debug(finger_name):
+                print(f"延伸: normalized={normalized:.6f}, t={t:.4f}, exp_factor={exp_factor:.2f}, result={result_angle:.6f}")
+        
+        if 'fist' in self.robot_states:
+            angle_fist = self.robot_states['fist'][robot_idx]
+            if slope > 0:
+                result_angle = min(result_angle, angle_fist)
+            else:
+                result_angle = max(result_angle, angle_fist)
+            if self._should_debug(finger_name):
+                print(f"截断到fist: angle_fist={angle_fist:.6f}, result={result_angle:.6f}")
+        
+        return result_angle
+    
+    def _two_state_map(self, current_fused, fused_first, fused_last,
+                       angle_first, angle_last, finger_name):
+        """两段映射：线性插值并截断到最后一个状态"""
+        if abs(fused_last - fused_first) < 1e-6:
+            normalized = 0.5
+        else:
+            normalized = (current_fused - fused_first) / (fused_last - fused_first)
+        
+        # 截断到 [0, 1]
+        normalized = max(0.0, min(1.0, normalized))
+        
+        result_angle = angle_first + normalized * (angle_last - angle_first)
+        
+        if self._should_debug(finger_name):
+            print(f"两段映射截断: normalized={normalized:.6f}, result={result_angle:.6f}")
+        
+        return result_angle
+        
+        return result_angle
+    
+    def get_mapping_info(self, finger_name: str = None) -> Dict:
+        """
+        获取映射信息
+        """
+        if finger_name:
+            return self._get_finger_info(finger_name)
+        else:
+            return {name: self._get_finger_info(name) for name in self.finger_configs}
+    
+    def _get_finger_info(self, finger_name: str) -> Dict:
+        """获取单个手指的信息"""
+        if finger_name not in self.finger_configs:
+            return {}
+        
+        robot_idx = self.finger_configs[finger_name]['robot_idx']
+        max_angle = self._get_max_angle(robot_idx)
+        
+        info = {
+            'name': self.finger_configs[finger_name]['name'],
+            'robot_idx': robot_idx,
+            'has_dynamic_weight': finger_name in self.dynamic_weight_configs,
+            'has_extended_mapping': self.extended_mapping_enabled.get(finger_name, False),
+            'scale_factor': self.scale_factors.get(finger_name, 1.0),
+            'max_angle': max_angle
+        }
+        
+        # 如果有open和opose状态，显示相关信息
+        if 'open' in self.robot_states and 'opose' in self.robot_states:
+            open_angle = self.robot_states['open'][robot_idx]
+            opose_angle = self.robot_states['opose'][robot_idx]
+            info.update({
+                'open_angle': open_angle,
+                'opose_angle': opose_angle,
+                'available_extension': max_angle - opose_angle
+            })
+        
+        return info
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/linkerforce.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/linkerforce.py
new file mode 100644
index 0000000..2f217d7
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/linkerforce.py
@@ -0,0 +1,732 @@
+import array
+import threading
+import numpy as np
+import time
+import re
+import struct
+import serial
+import serial.tools.list_ports
+from threading import Thread, Event
+from enum import Enum
+from typing import List, Dict, Optional, Callable, Any, Set
+from .constants import HandType
+
+
+# ============== 常量定义 ==============
+
+class CommandCode(Enum):
+    VERSION_QUERY = 0x01
+    SET_FLAG = 0x02
+    POSITION_QUERY = 0x03
+    FORCE_FEEDBACK = 0x04
+    A3_POSITION = 0xA3
+    A6_POSITION = 0xA6
+    A7_FORCE = 0xA7
+
+
+# 协议常量
+BUFFER_SIZE = 1024
+MAX_FRAME_DATA_SIZE = 255
+FRAME_HEADER = 0x5D
+
+# 时序常量
+WARMUP_DELAY = 0.15
+RESPONSE_WAIT = 0.3
+FINAL_WAIT = 1.0
+READ_INTERVAL = 0.003
+ERROR_DELAY = 0.01
+RETRY_DELAY = 0.5
+QUERY_INTERVAL = 10
+
+# 超时常量
+CONNECTION_TIMEOUT = 5.0
+CHECK_INTERVAL = 5.0
+
+# USB 设备匹配模式
+USB_PATTERNS = [
+    r'/dev/ttyUSB\d+',
+    r'/dev/ttyACM\d+',
+    r'/dev/ttyXRUSB\d+',
+    r'/dev/ttyOBC\d+',
+]
+
+
+# ============== 环形缓冲区 ==============
+
+class CircularBuffer:
+    def __init__(self):
+        self.data = array.array('B', [0] * BUFFER_SIZE)
+        self.read_pos = 0
+        self.write_pos = 0
+        self.data_len = 0
+
+    def write(self, data):
+        for byte in data:
+            self.data[self.write_pos] = byte
+            self.write_pos = (self.write_pos + 1) % BUFFER_SIZE
+            if self.data_len < BUFFER_SIZE:
+                self.data_len += 1
+            else:
+                self.read_pos = (self.read_pos + 1) % BUFFER_SIZE
+
+    def read_byte(self):
+        if self.data_len == 0:
+            return None
+        byte = self.data[self.read_pos]
+        self.read_pos = (self.read_pos + 1) % BUFFER_SIZE
+        self.data_len -= 1
+        return byte
+
+
+# ============== 帧解析器 ==============
+
+class FrameParseState(Enum):
+    HEADER = 0
+    CMD = 1
+    LENGTH = 2
+    DATA = 3
+    CHECKSUM = 4
+
+
+class FrameParser:
+    def __init__(self):
+        self.state = FrameParseState.HEADER
+        self.frame_buf = array.array('B', [0] * (3 + MAX_FRAME_DATA_SIZE + 1))
+        self.expected_len = 0
+        self.current_pos = 0
+        self.checksum = 0
+
+    def reset(self):
+        self.state = FrameParseState.HEADER
+        self.current_pos = 0
+        self.checksum = 0
+        for i in range(len(self.frame_buf)):
+            self.frame_buf[i] = 0
+
+    def process_byte(self, byte):
+        byte = byte & 0xFF
+        if self.state == FrameParseState.HEADER:
+            if byte == FRAME_HEADER:
+                self.frame_buf[0] = byte
+                self.current_pos = 1
+                self.checksum = 0
+                self.state = FrameParseState.CMD
+        elif self.state == FrameParseState.CMD:
+            self.frame_buf[1] = byte
+            self.current_pos = 2
+            self.state = FrameParseState.LENGTH
+        elif self.state == FrameParseState.LENGTH:
+            self.frame_buf[2] = byte
+            self.expected_len = 3 + byte + 1
+            self.current_pos = 3
+            if 0 < byte <= MAX_FRAME_DATA_SIZE:
+                self.state = FrameParseState.DATA
+            else:
+                self.state = FrameParseState.CHECKSUM
+        elif self.state == FrameParseState.DATA:
+            self.frame_buf[self.current_pos] = byte
+            self.current_pos += 1
+            if self.current_pos >= self.expected_len - 1:
+                self.state = FrameParseState.CHECKSUM
+        elif self.state == FrameParseState.CHECKSUM:
+            if self.checksum == byte:
+                self.frame_buf[self.current_pos] = byte
+                return True
+            else:
+                self.reset()
+
+        if self.state != FrameParseState.HEADER:
+            self.checksum = (self.checksum + byte) & 0xFF
+        
+        return False
+
+
+# ============== 日志工具 ==============
+
+class Logger:
+    def __init__(self, logger_func: Optional[Callable[[str, str], None]] = None, isdebug: bool = False):
+        self.logger = logger_func
+        self.isdebug = isdebug
+
+    def log(self, level: str, msg: str) -> None:
+        if self.logger:
+            if self.isdebug and level == 'debug':
+                self.logger('info', msg)
+            else:
+                self.logger(level, msg)
+        else:
+            print(msg)
+
+
+# ============== 串口扫描器 ==============
+
+class SerialScanner:
+    def __init__(self, baudrates: Optional[List[int]] = None, 
+                 exclude_ports: Optional[List[str]] = None, 
+                 logger: Optional[Logger] = None):
+        self.baudrates = baudrates or [2000000, 1000000, 921600, 460800]
+        self.exclude_ports = set(exclude_ports) if exclude_ports else set()
+        self.checked_ports: Set[str] = set()
+        self.logger = logger
+
+    def is_usb_device(self, port_name):
+        for pattern in USB_PATTERNS:
+            if re.match(pattern, port_name):
+                return True
+        try:
+            ports = serial.tools.list_ports.comports()
+            for port_info in ports:
+                if port_info.device == port_name:
+                    description = (port_info.description or "").lower()
+                    if any(kw in description for kw in ['usb', 'serial', 'com']):
+                        return True
+                    if port_info.hwid and 'USB' in port_info.hwid.upper():
+                        return True
+        except:
+            pass
+        return False
+
+    def scan_available_ports(self):
+        ports = serial.tools.list_ports.comports()
+        available = []
+        for port in ports:
+            device = port.device
+            if not self.is_usb_device(device):
+                continue
+            if device in self.exclude_ports:
+                if self.logger:
+                    self.logger.log('debug', f"跳过排除的串口: {device}")
+                continue
+            if device not in self.checked_ports:
+                available.append(device)
+        return available
+
+
+# ============== 帧处理器 ==============
+
+class FrameHandler:
+    def __init__(self, handtype: HandType, logger: Optional['Logger'] = None):
+        self._handtype = handtype  # 期望的手类型
+        self.logger = logger
+        self._data_lock = threading.Lock()
+        self._poslist: List[float] = [0.0] * 21
+        self._forcelist: List[float] = [0.0] * 5
+        self._realforcelist: List[int] = [0] * 5
+
+    @property
+    def poslist(self) -> List[float]:
+        with self._data_lock:
+            return self._poslist.copy()
+
+    @poslist.setter
+    def poslist(self, value: List[float]):
+        with self._data_lock:
+            self._poslist = value
+
+    @property
+    def forcelist(self) -> List[float]:
+        with self._data_lock:
+            return self._forcelist.copy()
+
+    @forcelist.setter
+    def forcelist(self, value: List[float]):
+        with self._data_lock:
+            self._forcelist = value
+
+    @property
+    def realforcelist(self) -> List[int]:
+        with self._data_lock:
+            return self._realforcelist.copy()
+
+    @realforcelist.setter
+    def realforcelist(self, value: List[int]):
+        with self._data_lock:
+            self._realforcelist = value
+
+    def handle_frame(self, frame: array.array) -> Optional[Dict[str, Any]]:
+        cmd = frame[1]
+        data_len = frame[2]
+        frame_data = frame[3:3 + data_len]
+
+        if cmd == CommandCode.VERSION_QUERY.value:
+            return self._handle_version(frame_data)
+        elif cmd == CommandCode.POSITION_QUERY.value:
+            return self._handle_position(frame_data, is_a3=False)
+        elif cmd == CommandCode.FORCE_FEEDBACK.value:
+            return self._handle_force(frame_data)
+        elif cmd == CommandCode.A3_POSITION.value:
+            return self._handle_position(frame_data, is_a3=True)
+        elif cmd == CommandCode.A6_POSITION.value:
+            return self._handle_a6_position(frame_data)
+        else:
+            if self.logger:
+                self.logger.log('warn', f"Unknown command: 0x{cmd:02X}")
+            return None
+
+    def _handle_version(self, frame_data: array.array) -> Dict[str, Any]:
+        value = struct.unpack('<I', frame_data[:4])[0]
+        value_str = f"{value:05d}"
+        major = int(value_str[0])
+        minor = int(value_str[1:3])
+        sub = int(value_str[3:5])
+        version = f"{major}.{minor}.{sub}"
+        status_code = frame_data[4]
+        detected_type = self._get_hand_type(status_code)
+        raw_type = self.detect_hand_type(status_code)
+        return {'version': version, 'handtype': detected_type, 'raw_handtype': raw_type}
+
+    def _handle_position(self, frame_data: array.array, is_a3: bool = False) -> Optional[Dict[str, Any]]:
+        if len(frame_data) % 4 != 0:
+            if self.logger:
+                self.logger.log('warn', f"Invalid position data length: {len(frame_data)}")
+            return None
+        floats: List[float] = []
+        for i in range(len(frame_data) // 4):
+            try:
+                val = struct.unpack('<f', frame_data[i*4:(i+1)*4])[0]
+                floats.append(np.deg2rad(val))
+            except struct.error as e:
+                if self.logger:
+                    self.logger.log('warn', f"Unpack error: {e}")
+        self.poslist = floats
+        result: Dict[str, Any] = {'poslist': floats}
+        if is_a3:
+            result['a6count'] = True
+        return result
+
+    def _handle_force(self, frame_data: array.array) -> Optional[Dict[str, Any]]:
+        if len(frame_data) % 2 != 0:
+            if self.logger:
+                self.logger.log('warn', f"Invalid force data length: {len(frame_data)}")
+            return None
+        values: List[int] = []
+        for i in range(len(frame_data) // 2):
+            try:
+                val = struct.unpack('>h', frame_data[i*2:(i+1)*2])[0]
+                values.append(val)
+            except struct.error as e:
+                if self.logger:
+                    self.logger.log('warn', f"Unpack error: {e}")
+        self.realforcelist = values
+        return {'realforcelist': values}
+
+    def _handle_a6_position(self, frame_data: array.array) -> Optional[Dict[str, Any]]:
+        if len(frame_data) % 2 != 0:
+            if self.logger:
+                self.logger.log('warn', f"Invalid a6 data length: {len(frame_data)}")
+            return None
+        floats: List[float] = []
+        for i in range(len(frame_data) // 2):
+            try:
+                val = struct.unpack('<h', frame_data[i*2:(i+1)*2])[0]
+                floats.append(np.deg2rad(val / 100))
+            except struct.error as e:
+                if self.logger:
+                    self.logger.log('warn', f"Unpack error: {e}")
+        self.poslist = floats
+        return {'poslist': floats, 'force_response': True}
+
+    def _get_hand_type(self, status_code: int) -> Optional[str]:
+        """返回手类型字符串，保持向后兼容"""
+        if status_code == 0 and self._handtype == HandType.left:
+            return "Left"
+        elif status_code == 1 and self._handtype == HandType.right:
+            return "Right"
+        return None
+    
+    def detect_hand_type(self, status_code: int) -> Optional[str]:
+        """仅根据 status_code 检测手类型（不验证匹配）"""
+        if status_code == 0:
+            return "Left"
+        elif status_code == 1:
+            return "Right"
+        return None
+
+    @staticmethod
+    def calculate_checksum(data: bytes) -> int:
+        return sum(data) & 0xFF
+
+    @staticmethod
+    def pack_data(cmd: int, payload: bytes = b'') -> bytes:
+        header = struct.pack('BBB', FRAME_HEADER, cmd, len(payload))
+        checksum = FrameHandler.calculate_checksum(header + payload)
+        return header + payload + struct.pack('B', checksum)
+
+    def pack_version_query(self) -> bytes:
+        return self.pack_data(CommandCode.VERSION_QUERY.value)
+
+    def pack_position_query(self) -> bytes:
+        return self.pack_data(CommandCode.POSITION_QUERY.value)
+
+    def pack_force_feedback(self) -> bytes:
+        payload = struct.pack(f'{len(self._forcelist)}f', *self._forcelist)
+        return self.pack_data(CommandCode.FORCE_FEEDBACK.value, payload)
+
+
+# ============== 串口连接管理器 ==============
+
+class SerialConnection:
+    def __init__(self, logger: Optional['Logger'] = None, isdebug: bool = False):
+        self.serial_port: Optional[serial.Serial] = None
+        self.running = Event()
+        self.thread: Optional[Thread] = None
+        self.logger = logger
+        self.isdebug = isdebug
+        self._last_receive_time = time.time()
+        self._last_check_time = time.time()
+        self._disconnect_warned = False
+        self._on_disconnect: Optional[Callable[[], None]] = None
+        self._on_reconnect: Optional[Callable[[], None]] = None
+
+    def open(self, port: str, baudrate: int) -> bool:
+        try:
+            self.serial_port = serial.Serial(
+                port=port,
+                baudrate=baudrate,
+                timeout=0.001,
+                parity=serial.PARITY_NONE,
+                stopbits=serial.STOPBITS_ONE,
+                bytesize=serial.EIGHTBITS
+            )
+            self.running = Event()
+            return True
+        except serial.SerialException as e:
+            if self.logger:
+                self.logger.log('error', f"串口打开失败: {e}")
+            return False
+
+    def close(self) -> None:
+        # 先关闭串口，解除阻塞，让线程快速退出
+        if self.serial_port and self.serial_port.is_open:
+            self.serial_port.close()
+        self.serial_port = None
+
+        self.running.clear()
+        if self.thread and self.thread.is_alive():
+            self.thread.join(timeout=1.0)
+
+    def start(self, data_callback: Callable[[array.array], None], 
+              query_callback: Callable[[], Optional[bytes]]) -> None:
+        if self.thread and self.thread.is_alive():
+            return
+        self.running.set()
+        self.thread = Thread(target=self._run, args=(data_callback, query_callback), daemon=True)
+        self.thread.start()
+
+    def stop(self) -> None:
+        self.close()
+
+    def _run(self, data_callback: Callable[[array.array], None], 
+             query_callback: Callable[[], Optional[bytes]]) -> None:
+        parser = FrameParser()
+        sendcount = 0
+        
+        while self.running.is_set():
+            try:
+                current_time = time.time()
+
+                # 断联检测
+                if current_time - self._last_check_time >= CHECK_INTERVAL:
+                    self._last_check_time = current_time
+                    elapsed = current_time - self._last_receive_time
+
+                    if elapsed > CONNECTION_TIMEOUT:
+                        if not self._disconnect_warned:
+                            port_name = self.serial_port.port if self.serial_port else 'unknown'
+                            if self.logger:
+                                self.logger.log('error', f"串口 {port_name} 超过 {CONNECTION_TIMEOUT}秒 无响应，可能已断联")
+                            self._disconnect_warned = True
+                            if self._on_disconnect:
+                                self._on_disconnect()
+
+                # 读取数据
+                if self.serial_port and self.serial_port.in_waiting > 0:
+                    data = self.serial_port.read(self.serial_port.in_waiting)
+                    if data:
+                        if self._disconnect_warned:
+                            port_name = self.serial_port.port if self.serial_port else 'unknown'
+                            if self.logger:
+                                self.logger.log('info', f"串口 {port_name} 已恢复连接")
+                            self._disconnect_warned = False
+                            if self._on_reconnect:
+                                self._on_reconnect()
+                        
+                        self._last_receive_time = current_time
+                        for byte in data:
+                            if parser.process_byte(byte):
+                                if data_callback:
+                                    data_callback(parser.frame_buf)
+                                parser.reset()
+
+                # 发送查询
+                if query_callback:
+                    sendcount += 1
+                    if sendcount > QUERY_INTERVAL:
+                        query_data = query_callback()
+                        if query_data and self.serial_port:
+                            self.serial_port.write(query_data)
+                        sendcount = 0
+
+                time.sleep(READ_INTERVAL)
+
+            except Exception as e:
+                if self.logger and self.isdebug:
+                    self.logger.log('error', f"串口读取错误: {e}")
+                time.sleep(ERROR_DELAY)
+
+    def set_disconnect_callback(self, callback: Callable[[], None]) -> None:
+        self._on_disconnect = callback
+
+    def set_reconnect_callback(self, callback: Callable[[], None]) -> None:
+        self._on_reconnect = callback
+
+
+# ============== 主类：整合以上模块 ==============
+
+class ForceSerialReader:
+    def __init__(self, gettype: HandType, excludelist: Optional[List[str]] = None, 
+                 baudrates: Optional[List[int]] = None, isdebug: bool = False, 
+                 logger: Optional[Callable[[str, str], None]] = None):
+        self.gettype = gettype
+        self.isdebug = isdebug
+        self.connflag = False
+        self.version: Optional[str] = None
+        self.handtype: Optional[HandType] = None
+
+        # 初始化模块
+        self._logger = Logger(logger, isdebug)
+        self._scanner = SerialScanner(baudrates, excludelist, self._logger)
+        self._handler = FrameHandler(gettype, self._logger)
+        self._connection = SerialConnection(self._logger, isdebug)
+
+        # 串口参数代理
+        self.serial_port: Optional[serial.Serial] = None
+        self.baudrates = self._scanner.baudrates
+        self.checked_ports = self._scanner.checked_ports
+        self.exclude_ports = self._scanner.exclude_ports
+
+    # 数据属性代理
+    @property
+    def poslist(self) -> List[float]:
+        return self._handler.poslist
+
+    @poslist.setter
+    def poslist(self, value: List[float]):
+        self._handler.poslist = value
+
+    @property
+    def forcelist(self) -> List[float]:
+        return self._handler.forcelist
+
+    @forcelist.setter
+    def forcelist(self, value: List[float]):
+        self._handler.forcelist = value
+
+    @property
+    def realforcelist(self) -> List[int]:
+        return self._handler.realforcelist
+
+    @realforcelist.setter
+    def realforcelist(self, value: List[int]):
+        self._handler.realforcelist = value
+
+    def _log(self, level: str, msg: str) -> None:
+        self._logger.log(level, msg)
+
+    # 扫描方法
+    def is_usb_device(self, port_name: str) -> bool:
+        return self._scanner.is_usb_device(port_name)
+
+    def scan_serial_ports(self) -> List[str]:
+        return self._scanner.scan_available_ports()
+
+    def find_valid_ports(self, timeout: float = 2, scan_interval: float = 2) -> tuple:
+        if self.isdebug:
+            self._log('debug', "开始扫描串口...")
+            self._log('debug', f"排除列表: {list(self.exclude_ports)}")
+            self._log('debug', f"波特率组合: {self.baudrates}")
+
+        available_ports = self.scan_serial_ports()
+        if self.isdebug:
+            self._log('debug', f"发现 {len(available_ports)} 个未检查的串口: {available_ports}")
+
+        for port in available_ports:
+            success, baudrate, errorcode = self.query_serial_port(port, timeout)
+            
+            if not success and errorcode != -2:
+                if self.isdebug:
+                    self._log('debug', "首次连接失败，尝试重试...")
+                time.sleep(RETRY_DELAY)
+                success, baudrate, errorcode = self.query_serial_port(port, timeout)
+
+            if errorcode == -2:
+                self._log('warn', f"警告: 串口 {port} 权限不足，请手动执行: sudo chmod 666 {port}")
+
+            self.checked_ports.add(port)
+
+            if success:
+                if self.isdebug:
+                    self._log('info', f"找到有效串口: {port} (波特率: {baudrate})")
+                return port, baudrate, errorcode
+
+        return None, None, None
+
+    def query_serial_port(self, port_name: str, timeout: float = 1) -> tuple:
+        best_baudrate: Optional[int] = None
+        errorcode: Optional[int] = None
+
+        for baudrate in self.baudrates:
+            ser: Optional[serial.Serial] = None
+            try:
+                ser = serial.Serial(port_name, baudrate, timeout=timeout,
+                                    bytesize=serial.EIGHTBITS,
+                                    parity=serial.PARITY_NONE,
+                                    stopbits=serial.STOPBITS_ONE)
+                self.serial_port = ser
+
+                if self.isdebug:
+                    self._log('debug', f"串口 {port_name} 波特率 {baudrate} 预热中...")
+
+                self.handtype = None
+                self.connflag = False
+
+                ser.reset_input_buffer()
+                ser.reset_output_buffer()
+
+                # 预热发送
+                for _ in range(3):
+                    ser.write(self.pack_01_data())
+                    time.sleep(WARMUP_DELAY)
+
+                # 启动临时读取线程
+                self._connection.running = Event()  # 重置 Event
+                self._connection.serial_port = ser
+                self._connection.running.set()
+                self._connection.thread = Thread(target=self._connection._run, 
+                                                 args=(self._on_data_received, self._get_query_data), 
+                                                 daemon=True)
+                self._connection.thread.start()
+                time.sleep(RESPONSE_WAIT)
+
+                if self.isdebug:
+                    self._log('debug', f"侦测串口 {port_name} 波特率 {baudrate} 是否联通...")
+
+                ser.write(self.pack_01_data())
+                time.sleep(FINAL_WAIT)
+
+                # 停止临时线程
+                self._connection.stop()
+                self.serial_port = None
+
+                if self.connflag and self.handtype is not None:
+                    best_baudrate = baudrate
+                    if self.isdebug:
+                        self._log('info', f"串口 {port_name} 在 {baudrate} 波特率下有响应")
+                    return True, best_baudrate, errorcode
+
+            except serial.SerialException as e:
+                # 确保清理
+                if self._connection.thread:
+                    self._connection.stop()
+                if ser and ser.is_open:
+                    ser.close()
+                self.serial_port = None
+                
+                error_msg = str(e)
+                if "No such file" in error_msg or "[Errno 2]" in error_msg:
+                    errorcode = -1
+                    if self.isdebug:
+                        self._log('debug', f"串口设备不存在: {port_name}")
+                    break
+                elif "Permission denied" in error_msg or "[Errno 13]" in error_msg:
+                    errorcode = -2
+                    self._log('warn', f"权限被拒绝: {port_name}")
+                    break
+                elif "Device or resource busy" in error_msg:
+                    errorcode = -3
+                    if self.isdebug:
+                        self._log('debug', f"设备忙: {port_name}")
+                    break
+                else:
+                    errorcode = -99
+                    if self.isdebug:
+                        self._log('debug', f"串口打开失败: {e}")
+                continue
+
+        return False, None, errorcode
+
+    # 连接方法
+    def openserial(self, port: str, baudrate: int = 2000000) -> bool:
+        result = self._connection.open(port, baudrate)
+        if result:
+            self.serial_port = self._connection.serial_port
+        return result
+
+    def start(self) -> None:
+        self._connection.start(self._on_data_received, self._get_query_data)
+
+    def stop(self) -> None:
+        self._connection.stop()
+
+    def _on_data_received(self, frame: array.array) -> None:
+        self.connflag = True
+        result = self._handler.handle_frame(frame)
+        
+        if result:
+            if 'version' in result:
+                self.version = result['version']
+            if 'raw_handtype' in result:
+                self.handtype = result['raw_handtype']
+            elif 'handtype' in result:
+                self.handtype = result['handtype']
+            if 'force_response' in result and self.serial_port:
+                self.serial_port.write(self.pack_A7_data(self.forcelist))
+
+    def _get_query_data(self) -> Optional[bytes]:
+        if self.handtype is not None:
+            return self.pack_03_data()
+        return None
+
+    def set_reconnect_callback(self, callback: Callable[[], None]) -> None:
+        self._connection.set_reconnect_callback(callback)
+
+    # 数据打包方法
+    @staticmethod
+    def calculate_checksum(data: bytes) -> int:
+        return FrameHandler.calculate_checksum(data)
+
+    def pack_01_data(self) -> bytes:
+        return self._handler.pack_version_query()
+
+    def pack_02_data(self, mastersendflag: int) -> bytes:
+        payload = struct.pack('BBBBB', mastersendflag, 0, 0, 0, 0)
+        return FrameHandler.pack_data(CommandCode.SET_FLAG.value, payload)
+
+    def pack_03_data(self) -> bytes:
+        return self._handler.pack_position_query()
+
+    def pack_A3_data(self) -> bytes:
+        return FrameHandler.pack_data(CommandCode.A3_POSITION.value)
+
+    def pack_04_data(self):
+        return self._handler.pack_force_feedback()
+
+    def pack_A4_data(self, float_data):
+        payload = struct.pack(f'{len(float_data)}f', *float_data)
+        return FrameHandler.pack_data(CommandCode.A6_POSITION.value, payload)
+
+    def pack_A7_data(self, float_data):
+        payload = struct.pack(f'{len(float_data)}f', *float_data)
+        return FrameHandler.pack_data(CommandCode.A7_FORCE.value, payload)
+
+    # 兼容性方法
+    def hex_dump(self, data):
+        return ' '.join(f'{b:02X}' for b in data)
+
+    def get_current_status(self):
+        return {
+            'valid_ports': [],
+            'checked_ports': list(self.checked_ports),
+            'exclude_ports': list(self.exclude_ports),
+            'baudrates': self.baudrates
+        }
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/linkermcgcore.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/linkermcgcore.py
new file mode 100644
index 0000000..dbff493
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/linkermcgcore.py
@@ -0,0 +1,264 @@
+from datetime import datetime
+import socket
+import time
+from threading import Thread
+import json
+from dataclasses import dataclass
+from typing import List, Dict, Union, Any
+import threading
+import numpy as np
+
+NODES_HAND = 25
+
+LOG_FILE_PATH = "/tmp/a.log"
+
+@dataclass
+class HandData:
+    pitch: List[int]      # 5个手指的pitch值 [0-255]
+    side: List[int]       # 5个手指的side值 [0-255]
+    roll: List[int]       # 5个手指的roll值 [0-255]
+    two_pitch: List[int]  # 5个手指的two_pitch值 [0-255]
+    end_pitch: List[int]  # 5个手指的end_pitch值 [0-255]
+
+
+class HaoCunData:
+    def __init__(self):
+        self.is_update = False
+        self.frame_index = 0
+        self.frequency = 0
+        self.ns_result = 0
+        # 直接存储25个字节值，不需要转换
+        self.jointangle_rHand = [0.0] * NODES_HAND
+        self.jointangle_lHand = [0.0] * NODES_HAND
+
+
+class HaoCunScoketUdp:
+    def __init__(self, host='127.0.0.1', port=7000, buffer_size=2048):
+        """
+        初始化UDP客户端
+        
+        Args:
+            target_host: 目标服务器地址
+            target_port: 目标服务器端口
+            buffer_size: 缓冲区大小
+            device_id: 设备ID
+        """
+        self.socket_udp = None
+        self.is_use_face_blend_shapes_arkit = False
+        self.udp_thread = None
+        self.udp_running = False
+        self.isconnect = False
+        self.target_host = host
+        self.target_port = port
+        self.target_address = (host, port)
+        self.buffer_size = buffer_size
+        self.realmocapdata = HaoCunData()
+        self.data_lock = threading.Lock()
+        self.frame_counter = 0
+
+    def udp_initial(self) -> bool:
+        """初始化UDP客户端并连接到目标服务器"""
+        try:
+            # 创建UDP socket
+            self.socket_udp = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            
+            # 设置超时时间
+            self.socket_udp.settimeout(10)
+            
+            # UDP是面向无连接的，这里只是保存目标地址，不会真正建立连接
+            # 但我们可以发送一个测试包来验证连通性
+            try:
+                test_packet = b"CONNECT"
+                self.socket_udp.sendto(test_packet, self.target_address)
+                self.socket_udp.settimeout(2)  # 设置较短的超时用于连接测试
+                # 尝试接收响应（如果服务器会响应的话）
+                # 注意：某些UDP服务可能不会响应，这并不代表连接失败
+                try:
+                    data, addr = self.socket_udp.recvfrom(self.buffer_size)
+                    print(f"成功连接到服务器 {addr}")
+                except socket.timeout:
+                    print(f"已发送连接请求到 {self.target_address} (UDP协议，无连接确认)")
+            except Exception as e:
+                print(f"连接测试时出错: {e}")
+            
+            # 恢复超时设置
+            self.socket_udp.settimeout(10)
+            
+            self.isconnect = True
+            self.udp_running = True
+            self.udp_thread = Thread(target=self.__udp_process)
+            self.udp_thread.start()
+            return True
+        except socket.error as e:
+            self.isconnect = False
+            print(f"UDP客户端初始化错误: {e}")
+            if self.socket_udp:
+                self.socket_udp.close()
+            return False
+
+    def __recv(self) -> tuple:
+        """接收UDP数据"""
+        try:
+            data, addr = self.socket_udp.recvfrom(self.buffer_size)
+            return data, addr
+        except socket.timeout:
+            return None, None
+        except socket.error as e:
+            print(f"接收数据时出错: {e}")
+            return None, None
+
+    def udp_close(self) -> bool:
+        """关闭UDP连接"""
+        self.udp_running = False
+        if self.udp_thread and self.udp_thread.is_alive():
+            self.udp_thread.join(timeout=2)
+        time.sleep(0.1)
+        if self.socket_udp:
+            self.socket_udp.close()
+        self.isconnect = False
+        return True
+
+    def udp_is_connect(self) -> bool:
+        """检查连接状态"""
+        return self.isconnect
+
+    def __udp_process(self):
+        """UDP数据处理线程"""
+        errorprintcount = 0
+        while self.udp_running:
+            try:
+                bytes_data, addr = self.__recv()
+                if bytes_data is not None:
+                    try:
+                        # 将接收到的数据传递给处理函数
+                        self.__process_received_data(bytes_data)
+                    except Exception as e:
+                        if errorprintcount > 100:
+                            print(f"数据处理错误: {e}")
+                            errorprintcount = 0
+                # 添加短暂休眠避免CPU占用过高
+                time.sleep(0.001)
+            except Exception as e:
+                if errorprintcount > 100:
+                    print(f"UDP处理线程错误: {e}")
+                    errorprintcount = 0
+            finally:
+                errorprintcount += 1
+
+    def __process_received_data(self, bytes_data: bytes):
+        """处理接收到的数据"""
+        try:
+            # 解码JSON数据
+            json_str = bytes_data.decode('utf-8', errors='replace')
+            data = json.loads(json_str)
+            
+            # 更新帧计数器
+            self.frame_counter += 1
+            
+            # 处理数据
+            with self.data_lock:
+                # 处理左手数据
+                if 'leftHand' in data:
+                    left_hand = data['leftHand']
+                    self.realmocapdata.jointangle_lHand = self.extract_25_bytes(left_hand)
+                
+                # 处理右手数据
+                if 'rightHand' in data:
+                    right_hand = data['rightHand']
+                    self.realmocapdata.jointangle_rHand = self.extract_25_bytes(right_hand)
+                
+                # 更新其他状态
+                self.realmocapdata.is_update = True
+                self.realmocapdata.frame_index = self.frame_counter
+                
+        except json.JSONDecodeError as e:
+            print(f"JSON解析错误: {e}")
+            print(f"原始数据: {bytes_data.decode('utf-8', errors='replace')}")
+        except Exception as e:
+            print(f"处理数据时出错: {e}")
+
+    def extract_25_bytes(self, hand_data: Dict) -> List[float]:
+        """
+        从手部数据字典中提取25个字节值，按以下顺序排列：
+        1. pitch (5个值)
+        2. side (5个值) 
+        3. roll (5个值)
+        4. two_pitch (5个值)
+        5. end_pitch (5个值)
+        
+        总计25个值
+        
+        Args:
+            hand_data: 包含pitch, side, roll, two_pitch, end_pitch的字典
+            
+        Returns:
+            长度为25的字节值列表
+        """
+        byte_values = [0.0] * NODES_HAND
+        idx = 0
+        
+        try:
+            # 按顺序提取5个数组，每个5个值，共25个值
+            arrays_to_extract = ['pitch', 'side', 'roll', 'two_pitch', 'end_pitch']
+            
+            for array_name in arrays_to_extract:
+                if array_name in hand_data:
+                    values = hand_data[array_name]
+                    # 确保有5个值
+                    if len(values) >= 5:
+                        for i in range(5):
+                            if idx < NODES_HAND:
+                                byte_values[idx] = float(values[i])
+                                idx += 1
+                    else:
+                        # 如果数据不足5个，填充0
+                        for i in range(5):
+                            if idx < NODES_HAND:
+                                byte_values[idx] = 0.0
+                                idx += 1
+                else:
+                    # 如果缺少某个数组，填充5个0
+                    for i in range(5):
+                        if idx < NODES_HAND:
+                            byte_values[idx] = 0.0
+                            idx += 1
+                            
+        except Exception as e:
+            print(f"提取字节值时出错: {e}")
+            
+        return byte_values
+
+    def udp_recv_mocap_data(self, mocap_data: HaoCunData) -> bool:
+        """获取最新的动捕数据"""
+        with self.data_lock:
+            mocap_data.frame_index = self.realmocapdata.frame_index
+            mocap_data.is_update = self.realmocapdata.is_update
+            mocap_data.frequency = self.realmocapdata.frequency
+            mocap_data.jointangle_rHand = self.realmocapdata.jointangle_rHand.copy()
+            mocap_data.jointangle_lHand = self.realmocapdata.jointangle_lHand.copy()
+        return True
+
+    def send_data(self, data: bytes) -> bool:
+        """发送数据到目标服务器"""
+        try:
+            if not self.isconnect or not self.socket_udp:
+                print("UDP客户端未连接")
+                return False
+            
+            self.socket_udp.sendto(data, self.target_address)
+            return True
+        except Exception as e:
+            print(f"发送数据时出错: {e}")
+            return False
+
+    def get_hand_data_summary(self) -> Dict:
+        """获取手部数据摘要"""
+        with self.data_lock:
+            return {
+                'frame_index': self.realmocapdata.frame_index,
+                'is_update': self.realmocapdata.is_update,
+                'left_hand_first_5': self.realmocapdata.jointangle_lHand[:5],
+                'right_hand_first_5': self.realmocapdata.jointangle_rHand[:5],
+                'left_hand_total': len(self.realmocapdata.jointangle_lHand),
+                'right_hand_total': len(self.realmocapdata.jointangle_rHand)
+            }
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/sensenovacore.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/sensenovacore.py
new file mode 100644
index 0000000..02a87cc
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/sensenovacore.py
@@ -0,0 +1,270 @@
+from datetime import datetime
+import socket
+import numpy as np
+import time
+from threading import Thread
+import json
+from dataclasses import dataclass
+from typing import List, Dict, Union, Any
+import threading
+
+NODES_HAND = 30
+
+json_send_basic = {
+    "timsstamp": "2025-4-30 22:47:90.123",
+    "datatype": "datarecv",
+    "right": {
+        "thumb": {
+            "normalforce": 0.0,
+            "approachforce": 0.0,
+            "tangentialforce": 0.0
+        },
+        "index": {
+            "normalforce": 0.0,
+            "approachforce": 0.0,
+            "tangentialforce": 0.0
+        },
+        "middle": {
+            "normalforce": 0.0,
+            "approachforce": 0.0,
+            "tangentialforce": 0.0
+        },
+        "ring": {
+            "normalforce": 31.0,
+            "approachforce": 32.0,
+            "tangentialforce": 0.0
+        },
+        "pinky": {
+            "normalforce": 0.0,
+            "approachforce": 0.0,
+            "tangentialforce": 0.0
+        }
+    },
+    "left": {
+        "thumb": {
+            "normalforce": 0.0,
+            "approachforce": 0.0,
+            "tangentialforce": 0.0
+        },
+        "index": {
+            "normalforce": 0.0,
+            "approachforce": 0.0,
+            "tangentialforce": 0.0
+        },
+        "middle": {
+            "normalforce": 0.0,
+            "approachforce": 0.0,
+            "tangentialforce": 0.0
+        },
+        "ring": {
+            "normalforce": 0.0,
+            "approachforce": 0.0,
+            "tangentialforce": 0.0
+        },
+        "pinky": {
+            "normalforce": 0.0,
+            "approachforce": 0.0,
+            "tangentialforce": 0.0
+        }
+    }
+}
+
+
+class SenseNovaData:
+    def __init__(self):
+        self.is_update = False
+        self.frame_index = 0
+        self.frequency = 0
+        self.ns_result = 0
+        self.jointangle_rHand = [0.0] * NODES_HAND
+        self.jointangle_lHand = [0.0] * NODES_HAND
+        self.normalforce_rHand = [0.0] * 5
+        self.normalforce_lHand = [0.0] * 5
+        self.approachforce_rHand = [0.0] * 5
+        self.approachforce_lHand = [0.0] * 5
+
+
+class SenseNovaScoketUdp:
+    def __init__(self, host='0.0.0.0', port=7000, buffer_size=4098):
+        self.socket_udp = None
+        self.is_use_face_blend_shapes_arkit = False
+        self.udp_thread = None
+        self.udp_running = False
+        self.isconnect = False
+        self.host = host
+        self.port = port
+        self.buffer_size = buffer_size
+        self.udp_addr = self.udp_getsockaddr(host, port)
+        self.realmocapdata = SenseNovaData()
+        self.data_lock = threading.Lock()
+
+    def udp_initial(self) -> bool:
+        """初始化 UDP socket"""
+        try:
+            self.socket_udp = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.socket_udp.bind(('', 8888))
+            self.socket_udp.settimeout(10)
+            self.isconnect = True
+            self.udp_running = True
+            self.udp_thread = Thread(target=self.__udp_process)
+            self.udp_thread.start()
+
+            return True
+        except socket.error as e:
+            self.isconnect = False
+            print(f"发生错误: {e},UDP套接字已关闭!")
+            if self.socket_udp:
+                self.socket_udp.close()
+            return False
+
+    @staticmethod
+    def udp_getsockaddr(ip: str, port: int) -> tuple:
+        """将 IP 地址及端口号转化为能识别的地址格式"""
+        return (ip, port)
+
+    def __send(self):
+        try:
+            json_send_basic["right"]["thumb"]["normalforce"] = self.realmocapdata.normalforce_rHand[0]
+            json_send_basic["right"]["index"]["normalforce"] = self.realmocapdata.normalforce_rHand[1]
+            json_send_basic["right"]["middle"]["normalforce"] = self.realmocapdata.normalforce_rHand[2]
+            json_send_basic["right"]["ring"]["normalforce"] = self.realmocapdata.normalforce_rHand[3]
+            json_send_basic["right"]["pinky"]["normalforce"] = self.realmocapdata.normalforce_rHand[4]
+            json_send_basic["left"]["thumb"]["normalforce"] = self.realmocapdata.normalforce_lHand[0]
+            json_send_basic["left"]["index"]["normalforce"] = self.realmocapdata.normalforce_lHand[1]
+            json_send_basic["left"]["middle"]["normalforce"] = self.realmocapdata.normalforce_lHand[2]
+            json_send_basic["left"]["ring"]["normalforce"] = self.realmocapdata.normalforce_lHand[3]
+            json_send_basic["left"]["pinky"]["normalforce"] = self.realmocapdata.normalforce_lHand[4]
+            json_send_basic["right"]["thumb"]["approachforce"] = self.realmocapdata.approachforce_rHand[0]
+            json_send_basic["right"]["index"]["approachforce"] = self.realmocapdata.approachforce_rHand[1]
+            json_send_basic["right"]["middle"]["approachforce"] = self.realmocapdata.approachforce_rHand[2]
+            json_send_basic["right"]["ring"]["approachforce"] = self.realmocapdata.approachforce_rHand[3]
+            json_send_basic["right"]["pinky"]["approachforce"] = self.realmocapdata.approachforce_rHand[4]
+            json_send_basic["left"]["thumb"]["approachforce"] = self.realmocapdata.approachforce_lHand[0]
+            json_send_basic["left"]["index"]["approachforce"] = self.realmocapdata.approachforce_lHand[1]
+            json_send_basic["left"]["middle"]["approachforce"] = self.realmocapdata.approachforce_lHand[2]
+            json_send_basic["left"]["ring"]["approachforce"] = self.realmocapdata.approachforce_lHand[3]
+            json_send_basic["left"]["pinky"]["approachforce"] = self.realmocapdata.approachforce_lHand[4]
+            json_data = json.dumps(json_send_basic)
+            self.socket_udp.sendto(json_data.encode('utf-8'), self.udp_addr)
+        except Exception as e:
+            print(f"Send未知错误: {e}")
+        finally:
+            pass
+
+    def __recv(self) -> tuple:
+        try:
+            data, addr = self.socket_udp.recvfrom(self.buffer_size)
+            return data, addr
+        except socket.timeout:
+            return None, None
+
+    def udp_close(self) -> bool:
+        self.udp_running = False
+        self.udp_thread.join()
+        time.sleep(0.1)
+        if self.socket_udp:
+            self.socket_udp.close()
+        return True
+
+    def udp_is_onnect(self) -> bool:
+        return self.isconnect
+
+    def __udp_process(self):
+        errorprintcount = 0
+        while self.udp_running:
+            self.__send()
+            try:
+                bytes_data, addr = self.__recv()
+                if bytes_data is not None:
+                    try:
+                        print(bytes_data)
+                        json_data = json.loads(bytes_data.decode('utf-8'))
+                        self.realmocapdata.jointangle_rHand[0:6] = [
+                            json_data["euler"]["right"]["thumb"]["cmc_roll"],
+                            json_data["euler"]["right"]["thumb"]["cmc_yaw"],
+                            json_data["euler"]["right"]["thumb"]["cmc_pitch"],
+                            json_data["euler"]["right"]["thumb"]["mcp"],
+                            json_data["euler"]["right"]["thumb"]["pip"],
+                            json_data["euler"]["right"]["thumb"]["dip"]]
+                        self.realmocapdata.jointangle_rHand[6:12] = [
+                            json_data["euler"]["right"]["index"]["cmc_roll"],
+                            json_data["euler"]["right"]["index"]["cmc_yaw"],
+                            json_data["euler"]["right"]["index"]["cmc_pitch"],
+                            json_data["euler"]["right"]["index"]["mcp"],
+                            json_data["euler"]["right"]["index"]["pip"],
+                            json_data["euler"]["right"]["index"]["dip"]]
+                        self.realmocapdata.jointangle_rHand[12:18] = [
+                            json_data["euler"]["right"]["middle"]["cmc_roll"],
+                            json_data["euler"]["right"]["middle"]["cmc_yaw"],
+                            json_data["euler"]["right"]["middle"]["cmc_pitch"],
+                            json_data["euler"]["right"]["middle"]["mcp"],
+                            json_data["euler"]["right"]["middle"]["pip"],
+                            json_data["euler"]["right"]["middle"]["dip"]]
+                        self.realmocapdata.jointangle_rHand[18:24] = [
+                            json_data["euler"]["right"]["ring"]["cmc_roll"],
+                            json_data["euler"]["right"]["ring"]["cmc_yaw"],
+                            json_data["euler"]["right"]["ring"]["cmc_pitch"],
+                            json_data["euler"]["right"]["ring"]["mcp"],
+                            json_data["euler"]["right"]["ring"]["pip"],
+                            json_data["euler"]["right"]["ring"]["dip"]]
+                        self.realmocapdata.jointangle_rHand[24:30] = [
+                            json_data["euler"]["right"]["pinky"]["cmc_roll"],
+                            json_data["euler"]["right"]["pinky"]["cmc_yaw"],
+                            json_data["euler"]["right"]["pinky"]["cmc_pitch"],
+                            json_data["euler"]["right"]["pinky"]["mcp"],
+                            json_data["euler"]["right"]["pinky"]["pip"],
+                            json_data["euler"]["right"]["pinky"]["dip"]]
+                        self.realmocapdata.jointangle_lHand[0:6] = [
+                            json_data["euler"]["left"]["thumb"]["cmc_roll"],
+                            json_data["euler"]["left"]["thumb"]["cmc_yaw"],
+                            json_data["euler"]["left"]["thumb"]["cmc_pitch"],
+                            json_data["euler"]["left"]["thumb"]["mcp"],
+                            json_data["euler"]["left"]["thumb"]["pip"],
+                            json_data["euler"]["left"]["thumb"]["dip"]]
+                        self.realmocapdata.jointangle_lHand[6:12] = [
+                            json_data["euler"]["left"]["index"]["cmc_roll"],
+                            json_data["euler"]["left"]["index"]["cmc_yaw"],
+                            json_data["euler"]["left"]["index"]["cmc_pitch"],
+                            json_data["euler"]["left"]["index"]["mcp"],
+                            json_data["euler"]["left"]["index"]["pip"],
+                            json_data["euler"]["left"]["index"]["dip"]]
+                        self.realmocapdata.jointangle_lHand[12:18] = [
+                            json_data["euler"]["left"]["middle"]["cmc_roll"],
+                            json_data["euler"]["left"]["middle"]["cmc_yaw"],
+                            json_data["euler"]["left"]["middle"]["cmc_pitch"],
+                            json_data["euler"]["left"]["middle"]["mcp"],
+                            json_data["euler"]["left"]["middle"]["pip"],
+                            json_data["euler"]["left"]["middle"]["dip"]]
+                        self.realmocapdata.jointangle_lHand[18:24] = [
+                            json_data["euler"]["left"]["ring"]["cmc_roll"],
+                            json_data["euler"]["left"]["ring"]["cmc_yaw"],
+                            json_data["euler"]["left"]["ring"]["cmc_pitch"],
+                            json_data["euler"]["left"]["ring"]["mcp"],
+                            json_data["euler"]["left"]["ring"]["pip"],
+                            json_data["euler"]["left"]["ring"]["dip"]]
+                        self.realmocapdata.jointangle_lHand[24:30] = [
+                            json_data["euler"]["left"]["pinky"]["cmc_roll"],
+                            json_data["euler"]["left"]["pinky"]["cmc_yaw"],
+                            json_data["euler"]["left"]["pinky"]["cmc_pitch"],
+                            json_data["euler"]["left"]["pinky"]["mcp"],
+                            json_data["euler"]["left"]["pinky"]["pip"],
+                            json_data["euler"]["left"]["pinky"]["dip"]]
+                    except json.JSONDecodeError as e:
+                        if errorprintcount > 100:
+                            print(f"JSON解析错误: {e}")
+                            print(f"原始数据: {bytes_data.decode('utf-8', errors='replace')}")
+                            errorprintcount = 0
+                    except ValueError as e:  # 新增：捕获 ValueError
+                        if errorprintcount > 100:
+                            print(f"[{datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] 设备ID错误: {e}")
+                            errorprintcount = 0
+            except Exception as e:
+                if errorprintcount > 100:
+                    if e.args[0] == 10054:
+                        print("远程设备已经断开!")
+                    else:
+                        print(f"Recv未知错误: {e}")
+                    errorprintcount = 0
+            finally:
+                errorprintcount += 1
+                time.sleep(0.001)
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/udexrealcore.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/udexrealcore.py
new file mode 100644
index 0000000..88f4f74
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/udexrealcore.py
@@ -0,0 +1,282 @@
+from datetime import datetime
+import socket
+import time
+from threading import Thread
+import json
+from dataclasses import dataclass
+from typing import List, Dict, Union, Any, Optional, Callable
+import threading
+import numpy as np
+
+NODES_HAND = 24
+NO_DATA_TIMEOUT = 1.0  # 无数据超时时间（秒）
+
+@dataclass
+class Bone:
+    Name: str
+    Parent: int
+    Location: List[float]
+    Rotation: List[float]
+    Scale: List[float]
+
+@dataclass
+class Parameter:
+    Name: str
+    Value: Union[float, int, bool]
+
+@dataclass
+class DeviceData:
+    Bones: List[Bone]
+    Parameter: List[Parameter]
+
+class MotionData:
+    def __init__(self, raw_data: Dict[str, Any]):
+        self.devices = {}
+        for device_id, device_content in raw_data.items():
+            bones = [Bone(**bone) for bone in device_content["Bones"]]
+            parameters = [Parameter(**param) for param in device_content["Parameter"]]
+            self.devices[device_id] = DeviceData(Bones=bones, Parameter=parameters)
+
+    def get_device(self, device_id: str) -> DeviceData:
+        return self.devices.get(device_id)
+
+    def list_sequence_params(self, device_id: str, prefix: str) -> Dict[str, Union[float, int, bool]]:
+        device = self.get_device(device_id)
+        if not device:
+            raise ValueError(f"Device {device_id} not found")
+
+        return {
+            param.Name: param.Value
+            for param in device.Parameter
+            if param.Name.startswith(prefix) and param.Name[len(prefix):].isdigit()
+        }
+
+
+class UdexRealData:
+    def __init__(self):
+        self.is_update = False
+        self.frame_index = 0
+        self.frequency = 0
+        self.ns_result = 0
+        self.jointangle_rHand = [0.0] * NODES_HAND
+        self.jointangle_lHand = [0.0] * NODES_HAND
+        # self.jointderict_rHand = [1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1]
+        # self.jointderict_lHand = [-1,-1,-1,1,-1,-1,-1,1,-1,-1,-1,1,-1,-1,-1,1,-1,-1,-1,1,1,1,1,1]
+        self.jointderict_rHand = [1] * NODES_HAND
+        self.jointderict_lHand = [1] * NODES_HAND
+        self.last_data_time = 0.0
+        self.is_data_timeout = False
+
+
+@dataclass
+class TimeoutStatus:
+    """超时状态数据结构"""
+    is_timeout: bool  # 当前是否超时
+    last_receive_time: float  # 上次收到数据的时间戳
+    time_since_last_data: float  # 距离上次收到数据的秒数
+    frame_index: int  # 当前帧数
+    timeout_threshold: float  # 超时阈值
+    consecutive_timeout_checks: int  # 连续超时检查次数
+
+
+class UdexRealScoketUdp:
+    def __init__(self, host='0.0.0.0', port=7000, buffer_size=2048, device_id='eric'):
+        self.socket_udp = None
+        self.udp_thread = None
+        self.udp_running = False
+        self.isconnect = False
+        self.host = host
+        self.port = port
+        self.device_id = device_id
+        self.buffer_size = buffer_size
+        self.realmocapdata = UdexRealData()
+        self.data_lock = threading.Lock()
+        
+        # 超时检测相关
+        self.no_data_timeout = NO_DATA_TIMEOUT
+        self.last_receive_time = 0.0
+        self.consecutive_timeout_checks = 0  # 连续超时检查次数
+        
+        # 回调函数（可选）
+        self.on_timeout_callback: Optional[Callable[[TimeoutStatus], None]] = None
+        self.on_data_recovered_callback: Optional[Callable[[], None]] = None
+
+    def set_timeout_callback(self, callback: Callable[[TimeoutStatus], None]):
+        """设置超时回调函数"""
+        self.on_timeout_callback = callback
+
+    def set_data_recovered_callback(self, callback: Callable[[], None]):
+        """设置数据恢复回调函数"""
+        self.on_data_recovered_callback = callback
+
+    def udp_initial(self) -> bool:
+        try:
+            self.socket_udp = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.socket_udp.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            self.socket_udp.settimeout(1.0)
+            self.socket_udp.bind((self.host, self.port))
+            self.isconnect = True
+            self.udp_running = True
+            self.last_receive_time = time.time()
+            self.consecutive_timeout_checks = 0
+            
+            self.udp_thread = Thread(target=self.__udp_process, daemon=True)
+            self.udp_thread.start()
+            return True
+        except socket.error:
+            self.isconnect = False
+            if self.socket_udp:
+                self.socket_udp.close()
+            return False
+
+    def __recv(self) -> tuple:
+        try:
+            data, addr = self.socket_udp.recvfrom(self.buffer_size)
+            return data, addr
+        except socket.timeout:
+            return None, None
+        except socket.error:
+            return None, None
+
+    def udp_close(self) -> bool:
+        self.udp_running = False
+        if self.udp_thread and self.udp_thread.is_alive():
+            self.udp_thread.join(timeout=1.0)
+        time.sleep(0.1)
+        if self.socket_udp:
+            self.socket_udp.close()
+            self.socket_udp = None
+        self.isconnect = False
+        return True
+
+    def udp_is_connect(self) -> bool:
+        return self.isconnect
+
+    def check_timeout(self) -> TimeoutStatus:
+        """
+        检查超时状态，返回超时状态信息
+        外部调用此方法来获取超时状态，并决定如何打印
+        """
+        current_time = time.time()
+        time_since_last_data = current_time - self.last_receive_time
+        is_timeout = time_since_last_data > self.no_data_timeout
+        
+        # 更新连续超时检查次数
+        if is_timeout:
+            self.consecutive_timeout_checks += 1
+        else:
+            self.consecutive_timeout_checks = 0
+        
+        # 更新数据对象的超时状态
+        with self.data_lock:
+            self.realmocapdata.is_data_timeout = is_timeout
+        
+        return TimeoutStatus(
+            is_timeout=is_timeout,
+            last_receive_time=self.last_receive_time,
+            time_since_last_data=time_since_last_data,
+            frame_index=self.realmocapdata.frame_index,
+            timeout_threshold=self.no_data_timeout,
+            consecutive_timeout_checks=self.consecutive_timeout_checks
+        )
+
+    def is_data_timeout(self) -> bool:
+        """快速检查是否超时"""
+        current_time = time.time()
+        time_since_last_data = current_time - self.last_receive_time
+        return time_since_last_data > self.no_data_timeout
+
+    def get_connection_status(self) -> Dict[str, Any]:
+        """获取完整的连接状态信息"""
+        current_time = time.time()
+        time_since_last_data = current_time - self.last_receive_time
+        
+        with self.data_lock:
+            frame_index = self.realmocapdata.frame_index
+            is_data_timeout = self.realmocapdata.is_data_timeout
+        
+        return {
+            'is_connected': self.isconnect,
+            'is_running': self.udp_running,
+            'last_receive_time': self.last_receive_time,
+            'last_receive_time_str': datetime.fromtimestamp(self.last_receive_time).strftime('%Y-%m-%d %H:%M:%S') if self.last_receive_time > 0 else '从未',
+            'time_since_last_data': time_since_last_data,
+            'is_data_timeout': is_data_timeout,
+            'timeout_threshold': self.no_data_timeout,
+            'frame_index': frame_index,
+            'consecutive_timeout_checks': self.consecutive_timeout_checks,
+            'device_id': self.device_id,
+            'port': self.port
+        }
+
+    def __udp_process(self):
+        was_timeout = False  # 记录上次检查是否超时
+        
+        while self.udp_running and self.isconnect:
+            try:
+                bytes_data, addr = self.__recv()
+                
+                if bytes_data is not None:
+                    # 更新接收时间
+                    current_time = time.time()
+                    self.last_receive_time = current_time
+                    
+                    # 检查是否从超时状态恢复
+                    if was_timeout:
+                        was_timeout = False
+                        # 调用数据恢复回调
+                        if self.on_data_recovered_callback:
+                            self.on_data_recovered_callback()
+                    
+                    try:
+                        json_data = json.loads(bytes_data.decode('utf-8'))
+                        with self.data_lock:
+                            motion_data = MotionData(json_data)
+                            self.realmocapdata.is_update = True
+                            self.realmocapdata.last_data_time = current_time
+                            self.realmocapdata.frame_index += 1
+                            
+                            try:
+                                l_params = motion_data.list_sequence_params(self.device_id, "l")
+                                for name, value in sorted(l_params.items(), key=lambda x: int(x[0][1:])):
+                                    if int(name[1:]) >= NODES_HAND: break
+                                    self.realmocapdata.jointangle_lHand[int(name[1:])] = np.deg2rad(value) * self.realmocapdata.jointderict_lHand[int(name[1:])]
+                            except Exception:
+                                pass
+                            
+                            try:
+                                r_params = motion_data.list_sequence_params(self.device_id, "r")
+                                for name, value in sorted(r_params.items(), key=lambda x: int(x[0][1:])):
+                                    if int(name[1:]) >= NODES_HAND: break
+                                    self.realmocapdata.jointangle_rHand[int(name[1:])] = np.deg2rad(value)* self.realmocapdata.jointderict_rHand[int(name[1:])]
+                            except Exception:
+                                pass
+                    
+                    except (json.JSONDecodeError, ValueError, Exception):
+                        pass
+                
+                else:
+                    # 没有收到数据，检查是否进入超时状态
+                    current_timeout_status = self.check_timeout()
+                    if current_timeout_status.is_timeout:
+                        was_timeout = True
+                        # 调用超时回调
+                        if self.on_timeout_callback:
+                            self.on_timeout_callback(current_timeout_status)
+                
+            except Exception:
+                pass
+
+    def udp_recv_mocap_data(self, mocap_data: UdexRealData) -> bool:
+        with self.data_lock:
+            mocap_data.frame_index = self.realmocapdata.frame_index
+            mocap_data.is_update = self.realmocapdata.is_update
+            mocap_data.frequency = self.realmocapdata.frequency
+            mocap_data.jointangle_rHand = self.realmocapdata.jointangle_rHand.copy()
+            mocap_data.jointangle_lHand = self.realmocapdata.jointangle_lHand.copy()
+            mocap_data.last_data_time = self.realmocapdata.last_data_time
+            mocap_data.is_data_timeout = self.realmocapdata.is_data_timeout
+            
+            self.realmocapdata.is_update = False
+        
+        return True
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/utils.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/utils.py
new file mode 100644
index 0000000..74bbc12
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/utils.py
@@ -0,0 +1,346 @@
+import enum
+import copy
+import yaml
+import math
+import os
+import numpy as np
+from transforms3d.quaternions import axangle2quat, qmult
+from transforms3d.quaternions import mat2quat
+from transforms3d.euler import mat2euler, quat2mat, euler2mat
+from scipy.spatial.transform import Rotation as R
+
+
+class DataSource(enum.Enum):
+    motion = enum.auto()
+    video = enum.auto()
+    vr = enum.auto()
+
+
+def read_yaml(file_path):
+    with open(file_path, 'r') as file:
+        config = yaml.safe_load(file)
+    return config
+
+
+def extract_dataset_folder_last_two_digits(dir_name):
+    # Extract the last two characters, ensure they are digits, and convert to integer
+    last_two = dir_name[-2:]  # Get the last two characters
+    if last_two.isdigit():
+        return int(last_two)
+    else:
+        return -1  # Return -1 (or some other value) if there are no digits
+
+
+def _back_project_batch(points, intrinsics):
+    """ Back-project a batch of points from 3D to 2D image space using vectorized operations """
+    points = np.array(points)
+
+    fx, fy, cx, cy = intrinsics[0, 0], intrinsics[1, 1], intrinsics[0, 2], intrinsics[1, 2]
+    x, y, z = points[:, 0], points[:, 1], points[:, 2]
+
+    u = (x * fx / z) + cx
+    v = (y * fy / z) + cy
+
+    projected_points = np.vstack((u, v)).T.astype(int)
+
+    # return projected_points
+
+
+def translate_wrist_to_origin(joint_positions):
+    wrist_position = joint_positions[0]
+    updated_positions = joint_positions - wrist_position
+    return updated_positions
+
+
+def apply_pose_matrix(joint_positions, pose_matrix):
+    homogeneous_joint_positions = np.hstack([joint_positions, np.ones((joint_positions.shape[0], 1))])
+    transformed_positions = np.dot(homogeneous_joint_positions, pose_matrix.T)
+    transformed_positions_3d = transformed_positions[:, :3]
+    return transformed_positions_3d
+
+
+def inverse_transformation(matrix):
+    # Assuming matrix is a 4x4 numpy array
+    R = matrix[:3, :3]
+    T = matrix[:3, 3]
+
+    R_inv = np.linalg.inv(R)
+    T_inv = -np.dot(R_inv, T)
+
+    inverse_matrix = np.eye(4)  # Create a 4x4 identity matrix
+    inverse_matrix[:3, :3] = R_inv
+    inverse_matrix[:3, 3] = T_inv
+
+    return inverse_matrix
+
+
+def update_R_delta_init(frame_0_eef_pos, frame_0_eef_quat):
+    global R_delta_init
+
+    frame_0_pose = np.eye(4)
+    frame_0_pose[:3, :3] = quat2mat(frame_0_eef_quat)
+    frame_0_pose[:3, 3] = frame_0_eef_pos
+
+    pose_ori_matirx = frame_0_pose[:3, :3]
+    pose_ori_correction_matrix = np.dot(np.array([[0, -1, 0],
+                                                  [0, 0, 1],
+                                                  [1, 0, 0]]), euler2mat(0, 0, 0))
+    pose_ori_matirx = np.dot(pose_ori_matirx, pose_ori_correction_matrix)
+
+    canonical_t265_ori = np.array([[1, 0, 0],
+                                   [0, -1, 0],
+                                   [0, 0, -1]])
+    x_angle, y_angle, z_angle = mat2euler(frame_0_pose[:3, :3])
+    canonical_t265_ori = np.dot(canonical_t265_ori, euler2mat(-z_angle, x_angle + 0.3, y_angle))
+
+    R_delta_init = np.dot(canonical_t265_ori, pose_ori_matirx.T)
+
+
+def switch_axis(quaternion_xyzw, i, j):
+    q1 = np.array(
+        [quaternion_xyzw[3], quaternion_xyzw[0], quaternion_xyzw[1], quaternion_xyzw[2]]
+    )
+    rot_mat = quat2mat(q1)
+    rot_mat_copy = copy.deepcopy(rot_mat)
+    rot_mat[i] = rot_mat_copy[j]
+    rot_mat[j] = rot_mat_copy[i]
+    import pdb
+
+    pdb.set_trace()
+    q2 = mat2quat(rot_mat)
+    q3 = np.array([q2[1], q2[2], q2[3], q2[0]])
+    return q3
+
+
+def swap_quaternion_axes(quaternion, axis1, axis2):
+    """
+    Swap two axes in a quaternion without converting to Euler angles.
+
+    Args:
+        quaternion (list or np.ndarray): The input quaternion [x, y, z, w].
+        axis1 (int): The index of the first axis to swap (0 for X, 1 for Y, 2 for Z).
+        axis2 (int): The index of the second axis to swap (0 for X, 1 for Y, 2 for Z).
+
+    Returns:
+        np.ndarray: The new quaternion with swapped axes [x', y', z', w'].
+    """
+    if axis1 < 0 or axis1 > 2 or axis2 < 0 or axis2 > 2:
+        raise ValueError("Axis indices must be 0, 1, or 2.")
+
+    # Create a copy of the input quaternion
+    new_quaternion = quaternion.copy()
+
+    # Swap the elements corresponding to the specified axes
+    new_quaternion[axis1], new_quaternion[axis2] = quaternion[axis2], quaternion[axis1]
+
+    return new_quaternion
+
+
+def trans_xyzwori_to_wxyzori(ori):
+    return ((ori[3], ori[0], ori[1], ori[2]))
+
+
+def trans_wxyzori_to_xyzwori(ori):
+    return ((ori[1], ori[2], ori[3], ori[0]))
+
+
+def scale_value(original_value, a_min, a_max, b_min, b_max):
+    return (original_value - a_min) * (b_max - b_min) / (a_max - a_min) + b_min
+
+
+def is_within_range(value, min_value, max_value):
+    return min(max_value, max(min_value, value))
+
+
+def extend_line(point1, point2, distance):
+    vector = np.array(point2) - np.array(point1)
+    vector_magnitude = np.linalg.norm(vector)
+    unit_vector = vector / vector_magnitude
+    extended_point = point2 + unit_vector * distance
+    return extended_point
+
+
+def poseture_to_matrix(position, ori):
+    matrix = np.eye(4)
+    rotation_matrix = quat2mat(ori)
+    matrix[:3, :3] = rotation_matrix
+    matrix[:3, 3] = position
+    return matrix
+
+
+def make_reference_matrix(position, ori, lenpose, lenori):
+    rotated_quaternion_wxyz = np.array([ori[3], ori[0], ori[1], ori[2]])
+    rotated_quaternion_wxyz_len = np.array([lenori[3], lenori[0], lenori[1], lenori[2]])
+    base_matrix = poseture_to_matrix(position, rotated_quaternion_wxyz)
+    adder_matrix = poseture_to_matrix(lenpose, rotated_quaternion_wxyz_len)
+    return base_matrix @ adder_matrix
+
+
+def change_orientation(ori):
+    return np.array([ori[3], ori[0], ori[1], ori[2]])
+
+
+def cal_distance(point_s, point_t):
+    vector = [point_s[i] - point_t[i] for i in range(3)]
+    vector_magnitude = math.sqrt(sum(x ** 2 for x in vector))
+    return vector_magnitude
+
+
+def exponential_growth(minvalue, maxvalue, growth_factor, num_points):
+    valuelist = np.linspace(minvalue, maxvalue, num_points)
+    x = valuelist.astype(int)
+    y = num_points - np.exp(growth_factor * x)
+    min_y = np.min(y)
+    y -= min_y
+    y = y / np.max(y) * maxvalue
+    lookup_table = dict(zip(x, y))
+    return lookup_table
+
+
+def change_list(q):
+    converted_list = [None if value == 'None' else value for value in q]
+    return converted_list
+
+
+def quaternion_conjugate(q):
+    x, y, z, w = q
+    return np.array([-x, -y, -z, w])
+
+
+def quaternion_norm_squared(q):
+    return np.dot(q, q)
+
+
+def quaternion_inverse(q):
+    q_conjugate = quaternion_conjugate(q)
+    norm_sq = quaternion_norm_squared(q)
+    return q_conjugate / norm_sq
+
+
+def quaternion_multiply(q1, q2):
+    x1, y1, z1, w1 = q1
+    x2, y2, z2, w2 = q2
+    return np.array([
+        w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2,  # x
+        w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2,  # y
+        w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2,  # z
+        w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2  # w
+    ])
+
+
+def exponential_growth_fun(x_values, c, a_min, a_max):
+    # 计算 k，使得 a(1) = a_max
+    k = a_max / (np.exp(c) - 1)
+
+    # 计算指数增长值
+    a_values = k * (np.exp(c * x_values) - 1)
+
+    # 将 a_values 映射到 [a_min, a_max] 范围
+    a_min_original = 0  # 原有公式的最小值
+    a_max_original = k * (np.exp(c) - 1)  # 原有公式的最大值
+    a_values_mapped = a_min + (a_values - a_min_original) * (a_max - a_min) / (a_max_original - a_min_original)
+
+    return a_values_mapped
+
+
+def quaternion_matrixinv(q):
+    qw, qx, qy, qz = q
+    rotation_matrix = np.array([[2 * qw ** 2 + 2 * qx ** 2 - 1, 2 * qx * qy - 2 * qw * qz, 2 * qw * qy + 2 * qx * qz],
+                                [2 * qw * qz + 2 * qx * qy, 2 * qw ** 2 + 2 * qy ** 2 - 1, 2 * qy * qz - 2 * qw * qx],
+                                [2 * qx * qz - 2 * qw * qy, 2 * qw * qx + 2 * qy * qz, 2 * qw ** 2 + 2 * qz ** 2 - 1]])
+
+    return np.linalg.inv(rotation_matrix)
+
+
+def unitydata_to_worldspacedata(initial_positions):
+    new_positions = []
+    for position in initial_positions:
+        new_positions.append([position[0], position[2], position[1]])
+    return new_positions
+
+
+def get_quaternion_relative(ori, targetori):
+    q_target = R.from_quat(targetori)
+    q_parent = R.from_quat(ori)
+    q_parent_inv = q_parent.inv().as_quat() * -1
+    q_parent_inv = R.from_quat(q_parent_inv)
+    q_relative = q_parent_inv * q_target
+    return q_relative.as_quat()
+
+
+def get_child_quaternion(ori, ori_relative):
+    q_child = R.from_quat(ori)
+    q_relative = R.from_quat(ori_relative)
+    q_result = q_relative * q_child
+    return q_result.as_quat()
+
+
+def quat2handposition(quat, bone):
+    root = bone[0]
+    fn = np.array([0, 0, 1, 2, 3, 0, 5, 6, 7, 8, 0, 10, 11, 12, 13, 0, 15, 16, 17, 18, 0, 20, 21, 22, 23])
+    orin = np.array([0, 0, 1, 2, 3, 0, 4, 5, 6, 7, 0, 8, 9, 10, 11, 0, 12, 13, 14, 15, 0, 16, 17, 18, 19])
+    boneVer = bone[:25] - bone[fn]
+    pos = np.ones((bone.shape[0], 1)) * root
+    for i in range(1, 25):
+        qt = quat[orin[i]]
+        pos[i] = boneVer[i] @ quaternion_matrixinv(qt) + pos[fn[i]]
+    return pos
+
+
+def rotate_matrix_x(radians):
+    return np.array([
+        [1, 0, 0],
+        [0, np.cos(radians), -np.sin(radians)],
+        [0, np.sin(radians), np.cos(radians)]
+    ])
+
+
+def rotate_matrix_y(radians):
+    return np.array([
+        [np.cos(radians), 0, np.sin(radians)],
+        [0, 1, 0],
+        [-np.sin(radians), 0, np.cos(radians)]
+    ])
+
+
+def rotate_matrix_z(radians):
+    return np.array([
+        [np.cos(radians), -np.sin(radians), 0],
+        [np.sin(radians), np.cos(radians), 0],
+        [0, 0, 1]
+    ])
+
+
+def rotate_quaternion(original_quat, roll, pitch, yaw):
+    """应用绕X, Y, Z轴的旋转到原始四元数。
+
+    参数:
+    original_quat (array_like): 原始四元数 [x, y, z, w] 格式。
+    roll (float): 绕X轴旋转的角度（度）。
+    pitch (float): 绕Y轴旋转的角度（度）。
+    yaw (float): 绕Z轴旋转的角度（度）。
+
+    返回:
+    np.ndarray: 旋转后的四元数 [x, y, z, w]
+    """
+    # 原始四元数转换为旋转对象
+    original_rotation = R.from_quat(original_quat)
+
+    # 将角度转换为弧度
+    roll_rad = np.radians(roll)
+    pitch_rad = np.radians(pitch)
+    yaw_rad = np.radians(yaw)
+
+    # 创建旋转对象，从给定的欧拉角创建一个新的旋转对象
+    rotation = R.from_euler('xyz', [roll_rad, pitch_rad, yaw_rad])
+
+    # 组合旋转，先应用原始旋转，再应用新旋转
+    new_rotation = original_rotation * rotation
+
+    # 返回结果四元数，转换为 [x, y, z, w] 形式
+    return new_rotation.as_quat()
+
+
+def cubic_model(x, a, b, c, d):
+    """Cubic model for curve fitting"""
+    return a * x ** 3 + b * x ** 2 + c * x + d
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/vtrdyncore.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/vtrdyncore.py
new file mode 100644
index 0000000..93bf72b
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/vtrdyncore.py
@@ -0,0 +1,208 @@
+import socket
+import struct
+import time
+from threading import Thread
+import threading
+
+NODES_BODY = 23
+NODES_HAND = 20
+NODES_FACEBS_ARKIT = 52
+NODES_FACEBS_AUDIO = 26
+
+DC_QUAT = 1e-4  # short -> double
+DC_POSITION = 1e-3  # short -> double
+DC_POWER = 1e-2  # short -> double
+
+uc_ConnectsendBytes = bytes(
+    [0xfa, 0x00, 0x00, 0x0b, 0x04, 0x03, 0xa2, 0x53, 0x23, 0x52, 0xce, 0x32, 0x99, 0xf4, 0x32, 0xfb, 0x30])
+uc_DisConnectsendBytes = bytes([0xfa, 0x00, 0x00, 0x03, 0x04, 0x0b, 0xa1, 0xfb, 0xa8])
+
+
+class MocapData:
+    def __init__(self):
+        self.is_update = False
+        self.frame_index = 0
+        self.frequency = 0
+        self.ns_result = 0
+
+        self.sensor_state_body = [0] * NODES_BODY
+        self.position_body = [[0.0, 0.0, 0.0] for _ in range(NODES_BODY)]
+        self.quaternion_body = [[0.0, 0.0, 0.0, 0.0] for _ in range(NODES_BODY)]
+        self.gyr_body = [[0.0, 0.0, 0.0] for _ in range(NODES_BODY)]
+        self.acc_body = [[0.0, 0.0, 0.0] for _ in range(NODES_BODY)]
+        self.velocity_body = [[0.0, 0.0, 0.0] for _ in range(NODES_BODY)]
+
+        self.sensor_state_r_hand = [0] * NODES_HAND
+        self.position_rHand = [[0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+        self.quaternion_rHand = [[0.0, 0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+        self.gyr_r_hand = [[0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+        self.acc_r_hand = [[0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+        self.velocity_r_hand = [[0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+
+        self.sensor_state_l_hand = [0] * NODES_HAND
+        self.position_lHand = [[0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+        self.quaternion_lHand = [[0.0, 0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+        self.gyr_l_hand = [[0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+        self.acc_l_hand = [[0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+        self.velocity_l_hand = [[0.0, 0.0, 0.0] for _ in range(NODES_HAND)]
+
+        self.is_use_face_blend_shapes_arkit = False
+        self.is_use_face_blend_shapes_audio = False
+        self.face_blend_shapes_arkit = [0.0] * NODES_FACEBS_ARKIT
+        self.face_blend_shapes_audio = [0.0] * NODES_FACEBS_AUDIO
+        self.local_quat_right_eyeball = [0.0] * 4
+        self.local_quat_left_eyeball = [0.0] * 4
+
+
+class VtrdynSocketUdp:
+    def __init__(self, debug = False):
+        self.socket_udp = None
+        self.is_use_face_blend_shapes_arkit = False
+        self.send_thread = None
+        self.send_running = False
+        self.mocap_data_realtime = MocapData()
+        self.data_lock = threading.Lock()
+        self.isconnect = False
+        self.debug = debug
+
+    def udp_initial(self, local_port: int) -> bool:
+        """初始化 UDP socket"""
+        try:
+            self.socket_udp = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.socket_udp.bind(('', local_port))
+            self.socket_udp.settimeout(10)
+            self.isconnect = True
+            return True
+        except socket.error as e:
+            self.isconnect = False
+            if self.debug:
+                print(f"Socket initialization failed: {e}")
+            if self.socket_udp:
+                self.socket_udp.close()
+            return False
+
+    @staticmethod
+    def udp_getsockaddr(ip: str, port: int) -> tuple:
+        """将 IP 地址及端口号转化为能识别的地址格式"""
+        return (ip, port)
+
+    def __recv(self, buffer_size: int = 3415) -> tuple:
+        try:
+            data, addr = self.socket_udp.recvfrom(buffer_size)
+            return data, addr
+        except socket.error as e:
+            return None, None
+
+    def udp_close(self, dst_addr: tuple) -> bool:
+        self.socket_udp.sendto(uc_DisConnectsendBytes, dst_addr)
+        self.send_running = False
+        self.send_thread.join()
+        time.sleep(0.1)
+        if self.socket_udp:
+            self.socket_udp.close()
+        return self.send_running
+
+    def udp_send_request_connect(self, dst_addr: tuple) -> bool:
+        connerrflag = False
+        try:
+            self.socket_udp.sendto(uc_ConnectsendBytes, dst_addr)
+            if self.debug:
+                print(f"Initialization packet sent to {dst_addr}")
+            # 等待确认响应
+            bytes_data, addr = self.socket_udp.recvfrom(1024)
+            if addr == dst_addr:
+                connerrflag = True
+                if self.debug:
+                    print(f"Connection established with {addr}")
+        except socket.timeout:
+            if self.debug:
+                print("Initialization timeout: No response from target")
+        except socket.error as e:
+            if self.debug:
+                print(f"Initialization error: {str(e)}")
+        self.send_running = True
+        self.send_thread = Thread(target=self.__udp_process)
+        self.send_thread.start()
+        return connerrflag
+
+    def udp_is_onnect(self) -> bool:
+        return self.isconnect
+
+    def __udp_process(self):
+        while self.send_running:
+            try:
+                bytes_data, addr = self.__recv()
+                if bytes_data is None:
+                    self.isconnect = False
+                    time.sleep(0.01)
+                    continue
+                self.isconnect = True
+                if len(bytes_data) < 683 or (bytes_data[2] << 8 | bytes_data[3]) - 3 < (NODES_BODY * 8) or bytes_data[
+                    0] != 250 or bytes_data[681] != 251:
+                    return False
+                mocap_temp = MocapData()
+                offset = 1
+                mocap_temp.frame_index = bytes_data[offset]
+                offset = 7  # Move to the next field
+                mocap_temp.is_update = bool(bytes_data[offset])
+                offset = 10  # Move to frequency
+                mocap_temp.frequency = bytes_data[offset]
+                offset = 11  # Move to hips_position
+                for i in range(3):
+                    # 每个位置分量
+                    mocap_temp.position_body[i] = \
+                    struct.unpack('>h', bytes_data[offset + i * 2:offset + i * 2 + 2])[
+                        0] * DC_POSITION
+                offset = offset + 6 + NODES_BODY  # 移动到 quaternion_body 开始的位置
+                for i in range(NODES_BODY):
+                    for j in range(4):
+                        current_offset = offset + i * 8 + j * 2
+                        mocap_temp.quaternion_body[i][j] = \
+                            struct.unpack('>h', bytes_data[current_offset:current_offset + 2])[
+                                0] * DC_QUAT
+                offset = offset + NODES_BODY * 8 + NODES_HAND  # 移动到 quaternion_rightHand 开始的位置
+                for i in range(NODES_HAND):
+                    for j in range(4):
+                        current_offset = offset + i * 8 + j * 2
+                        mocap_temp.quaternion_rHand[i][j] = \
+                            struct.unpack('>h', bytes_data[current_offset:current_offset + 2])[
+                                0] * DC_QUAT
+                offset = offset + NODES_HAND * 8 + NODES_HAND  # 移动到 quaternion_leftHand 开始的位置
+                for i in range(NODES_HAND):
+                    for j in range(4):
+                        current_offset = offset + i * 8 + j * 2
+                        mocap_temp.quaternion_lHand[i][j] = \
+                            struct.unpack('>h', bytes_data[current_offset:current_offset + 2])[
+                                0] * DC_QUAT
+                offset = offset + NODES_HAND * 8 + 1  # 移动到 isUseBlendShapeArkit
+                mocap_temp.is_use_face_blend_shapes_arkit = bool(bytes_data[offset])
+                with self.data_lock:
+                    self.mocap_data_realtime.frame_index = mocap_temp.frame_index
+
+                    self.mocap_data_realtime.is_update = mocap_temp.is_update
+                    self.mocap_data_realtime.frequency = mocap_temp.frequency
+                    self.mocap_data_realtime.quaternion_rHand = mocap_temp.quaternion_rHand
+                    self.mocap_data_realtime.quaternion_lHand = mocap_temp.quaternion_lHand
+                time.sleep(0.01)
+            except socket.timeout:
+                # 检查连接超时
+                if self.connected:
+                    if self.debug:
+                        print("Connection timeout detected!")
+                    self.connected = False
+                    break
+                continue
+                
+            except Exception as e:
+                if self.debug:
+                    print(f"Receive error: {str(e)}")
+                break
+
+    def udp_recv_mocap_data(self, mocap_data: MocapData) -> bool:
+        with self.data_lock:
+            mocap_data.frame_index = self.mocap_data_realtime.frame_index
+            mocap_data.is_update = self.mocap_data_realtime.is_update
+            mocap_data.frequency = self.mocap_data_realtime.frequency
+            mocap_data.quaternion_rHand = self.mocap_data_realtime.quaternion_rHand
+            mocap_data.quaternion_lHand = self.mocap_data_realtime.quaternion_lHand
+        return True
diff --git a/src/linkerhand_retarget/linkerhand_retarget/linkerhand/yourdfpy.py b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/yourdfpy.py
new file mode 100644
index 0000000..6937c37
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/linkerhand/yourdfpy.py
@@ -0,0 +1,2237 @@
+# Code from yourdfpy with small modification for deprecated warning
+# Source: https://github.com/clemense/yourdfpy/blob/main/src/yourdfpy/urdf.py
+
+import copy
+import logging
+import os
+from dataclasses import dataclass, field, is_dataclass
+from functools import partial
+from typing import Dict, List, Optional, Union
+
+import anytree
+import numpy as np
+import six
+import trimesh
+import trimesh.transformations as tra
+from anytree import Node, LevelOrderIter
+from lxml import etree
+
+_logger = logging.getLogger(__name__)
+
+
+def _array_eq(arr1, arr2):
+    if arr1 is None and arr2 is None:
+        return True
+    return (
+        isinstance(arr1, np.ndarray)
+        and isinstance(arr2, np.ndarray)
+        and arr1.shape == arr2.shape
+        and (arr1 == arr2).all()
+    )
+
+
+@dataclass(eq=False)
+class TransmissionJoint:
+    name: str
+    hardware_interfaces: List[str] = field(default_factory=list)
+
+    def __eq__(self, other):
+        if not isinstance(other, TransmissionJoint):
+            return NotImplemented
+        return (
+            self.name == other.name
+            and all(self_hi in other.hardware_interfaces for self_hi in self.hardware_interfaces)
+            and all(other_hi in self.hardware_interfaces for other_hi in other.hardware_interfaces)
+        )
+
+
+@dataclass(eq=False)
+class Actuator:
+    name: str
+    mechanical_reduction: Optional[float] = None
+    # The follwing is only valid for ROS Indigo and prior versions
+    hardware_interfaces: List[str] = field(default_factory=list)
+
+    def __eq__(self, other):
+        if not isinstance(other, Actuator):
+            return NotImplemented
+        return (
+            self.name == other.name
+            and self.mechanical_reduction == other.mechanical_reduction
+            and all(self_hi in other.hardware_interfaces for self_hi in self.hardware_interfaces)
+            and all(other_hi in self.hardware_interfaces for other_hi in other.hardware_interfaces)
+        )
+
+
+@dataclass(eq=False)
+class Transmission:
+    name: str
+    type: Optional[str] = None
+    joints: List[TransmissionJoint] = field(default_factory=list)
+    actuators: List[Actuator] = field(default_factory=list)
+
+    def __eq__(self, other):
+        if not isinstance(other, Transmission):
+            return NotImplemented
+        return (
+            self.name == other.name
+            and self.type == other.type
+            and all(self_joint in other.joints for self_joint in self.joints)
+            and all(other_joint in self.joints for other_joint in other.joints)
+            and all(self_actuator in other.actuators for self_actuator in self.actuators)
+            and all(other_actuator in self.actuators for other_actuator in other.actuators)
+        )
+
+
+@dataclass
+class Calibration:
+    rising: Optional[float] = None
+    falling: Optional[float] = None
+
+
+@dataclass
+class Mimic:
+    joint: str
+    multiplier: Optional[float] = None
+    offset: Optional[float] = None
+
+
+@dataclass
+class SafetyController:
+    soft_lower_limit: Optional[float] = None
+    soft_upper_limit: Optional[float] = None
+    k_position: Optional[float] = None
+    k_velocity: Optional[float] = None
+
+
+@dataclass
+class Sphere:
+    radius: float
+
+
+@dataclass
+class Cylinder:
+    radius: float
+    length: float
+
+
+@dataclass(eq=False)
+class Box:
+    size: np.ndarray
+
+    def __eq__(self, other):
+        if not isinstance(other, Box):
+            return NotImplemented
+        return _array_eq(self.size, other.size)
+
+
+@dataclass(eq=False)
+class Mesh:
+    filename: str
+    scale: Optional[Union[float, np.ndarray]] = None
+
+    def __eq__(self, other):
+        if not isinstance(other, Mesh):
+            return NotImplemented
+
+        if self.filename != other.filename:
+            return False
+
+        if isinstance(self.scale, float) and isinstance(other.scale, float):
+            return self.scale == other.scale
+
+        return _array_eq(self.scale, other.scale)
+
+
+@dataclass
+class Geometry:
+    box: Optional[Box] = None
+    cylinder: Optional[Cylinder] = None
+    sphere: Optional[Sphere] = None
+    mesh: Optional[Mesh] = None
+
+
+@dataclass(eq=False)
+class Color:
+    rgba: np.ndarray
+
+    def __eq__(self, other):
+        if not isinstance(other, Color):
+            return NotImplemented
+        return _array_eq(self.rgba, other.rgba)
+
+
+@dataclass
+class Texture:
+    filename: str
+
+
+@dataclass
+class Material:
+    name: Optional[str] = None
+    color: Optional[Color] = None
+    texture: Optional[Texture] = None
+
+
+@dataclass(eq=False)
+class Visual:
+    name: Optional[str] = None
+    origin: Optional[np.ndarray] = None
+    geometry: Optional[Geometry] = None  # That's not really optional according to ROS
+    material: Optional[Material] = None
+
+    def __eq__(self, other):
+        if not isinstance(other, Visual):
+            return NotImplemented
+        return (
+            self.name == other.name
+            and _array_eq(self.origin, other.origin)
+            and self.geometry == other.geometry
+            and self.material == other.material
+        )
+
+
+@dataclass(eq=False)
+class Collision:
+    name: str
+    origin: Optional[np.ndarray] = None
+    geometry: Geometry = None
+
+    def __eq__(self, other):
+        if not isinstance(other, Collision):
+            return NotImplemented
+        return self.name == other.name and _array_eq(self.origin, other.origin) and self.geometry == other.geometry
+
+
+@dataclass(eq=False)
+class Inertial:
+    origin: Optional[np.ndarray] = None
+    mass: Optional[float] = None
+    inertia: Optional[np.ndarray] = None
+
+    def __eq__(self, other):
+        if not isinstance(other, Inertial):
+            return NotImplemented
+        return (
+            _array_eq(self.origin, other.origin) and self.mass == other.mass and _array_eq(self.inertia, other.inertia)
+        )
+
+
+@dataclass(eq=False)
+class Link:
+    name: str
+    inertial: Optional[Inertial] = None
+    visuals: List[Visual] = field(default_factory=list)
+    collisions: List[Collision] = field(default_factory=list)
+
+    def __eq__(self, other):
+        if not isinstance(other, Link):
+            return NotImplemented
+        return (
+            self.name == other.name
+            and self.inertial == other.inertial
+            and all(self_visual in other.visuals for self_visual in self.visuals)
+            and all(other_visual in self.visuals for other_visual in other.visuals)
+            and all(self_collision in other.collisions for self_collision in self.collisions)
+            and all(other_collision in self.collisions for other_collision in other.collisions)
+        )
+
+
+@dataclass
+class Dynamics:
+    damping: Optional[float] = None
+    friction: Optional[float] = None
+
+
+@dataclass
+class Limit:
+    effort: Optional[float] = None
+    velocity: Optional[float] = None
+    lower: Optional[float] = None
+    upper: Optional[float] = None
+
+
+@dataclass(eq=False)
+class Joint:
+    name: str
+    type: str = None
+    parent: str = None
+    child: str = None
+    origin: np.ndarray = None
+    axis: np.ndarray = None
+    dynamics: Optional[Dynamics] = None
+    limit: Optional[Limit] = None
+    mimic: Optional[Mimic] = None
+    calibration: Optional[Calibration] = None
+    safety_controller: Optional[SafetyController] = None
+
+    def __eq__(self, other):
+        if not isinstance(other, Joint):
+            return NotImplemented
+        return (
+            self.name == other.name
+            and self.type == other.type
+            and self.parent == other.parent
+            and self.child == other.child
+            and _array_eq(self.origin, other.origin)
+            and _array_eq(self.axis, other.axis)
+            and self.dynamics == other.dynamics
+            and self.limit == other.limit
+            and self.mimic == other.mimic
+            and self.calibration == other.calibration
+            and self.safety_controller == other.safety_controller
+        )
+
+
+@dataclass(eq=False)
+class Robot:
+    name: str
+    links: List[Link] = field(default_factory=list)
+    joints: List[Joint] = field(default_factory=list)
+    materials: List[Material] = field(default_factory=list)
+    transmission: List[str] = field(default_factory=list)
+    gazebo: List[str] = field(default_factory=list)
+
+    def __eq__(self, other):
+        if not isinstance(other, Robot):
+            return NotImplemented
+        return (
+            self.name == other.name
+            and all(self_link in other.links for self_link in self.links)
+            and all(other_link in self.links for other_link in other.links)
+            and all(self_joint in other.joints for self_joint in self.joints)
+            and all(other_joint in self.joints for other_joint in other.joints)
+            and all(self_material in other.materials for self_material in self.materials)
+            and all(other_material in self.materials for other_material in other.materials)
+            and all(self_transmission in other.transmission for self_transmission in self.transmission)
+            and all(other_transmission in self.transmission for other_transmission in other.transmission)
+            and all(self_gazebo in other.gazebo for self_gazebo in self.gazebo)
+            and all(other_gazebo in self.gazebo for other_gazebo in other.gazebo)
+        )
+
+
+class URDFError(Exception):
+    """General URDF exception."""
+
+    def __init__(self, msg):
+        super(URDFError, self).__init__()
+        self.msg = msg
+
+    def __str__(self):
+        return type(self).__name__ + ": " + self.msg
+
+    def __repr__(self):
+        return type(self).__name__ + '("' + self.msg + '")'
+
+
+class URDFIncompleteError(URDFError):
+    """Raised when needed data for an object isn't there."""
+
+    pass
+
+
+class URDFAttributeValueError(URDFError):
+    """Raised when attribute value is not contained in the set of allowed values."""
+
+    pass
+
+
+class URDFBrokenRefError(URDFError):
+    """Raised when a referenced object is not found in the scope."""
+
+    pass
+
+
+class URDFMalformedError(URDFError):
+    """Raised when data is found to be corrupted in some way."""
+
+    pass
+
+
+class URDFUnsupportedError(URDFError):
+    """Raised when some unexpectedly unsupported feature is found."""
+
+    pass
+
+
+class URDFSaveValidationError(URDFError):
+    """Raised when XML validation fails when saving."""
+
+    pass
+
+
+def _str2float(s):
+    """Cast string to float if it is not None. Otherwise return None.
+
+    Args:
+        s (str): String to convert or None.
+
+    Returns:
+        str or NoneType: The converted string or None.
+    """
+    return float(s) if s is not None else None
+
+
+def apply_visual_color(
+    geom: trimesh.Trimesh,
+    visual: Visual,
+    material_map: Dict[str, Material],
+) -> None:
+    """Apply the color of the visual material to the mesh.
+
+    Args:
+        geom: Trimesh to color.
+        visual: Visual description from XML.
+        material_map: Dictionary mapping material names to their definitions.
+    """
+    if visual.material is None:
+        return
+
+    if visual.material.color is not None:
+        color = visual.material.color
+    elif visual.material.name is not None and visual.material.name in material_map:
+        color = material_map[visual.material.name].color
+    else:
+        return
+
+    if color is None:
+        return
+    if isinstance(geom.visual, trimesh.visual.ColorVisuals):
+        geom.visual.face_colors[:] = [int(255 * channel) for channel in color.rgba]
+
+
+def filename_handler_null(fname):
+    """A lazy filename handler that simply returns its input.
+
+    Args:
+        fname (str): A file name.
+
+    Returns:
+        str: Same file name.
+    """
+    return fname
+
+
+def filename_handler_ignore_directive(fname):
+    """A filename handler that removes anything before (and including) '://'.
+
+    Args:
+        fname (str): A file name.
+
+    Returns:
+        str: The file name without the prefix.
+    """
+    if "://" in fname or ":\\\\" in fname:
+        return ":".join(fname.split(":")[1:])[2:]
+    return fname
+
+
+def filename_handler_ignore_directive_package(fname):
+    """A filename handler that removes the 'package://' directive and the package it refers to.
+    It subsequently calls filename_handler_ignore_directive, i.e., it removes any other directive.
+
+    Args:
+        fname (str): A file name.
+
+    Returns:
+        str: The file name without 'package://' and the package name.
+    """
+    if fname.startswith("package://"):
+        string_length = len("package://")
+        return os.path.join(*os.path.normpath(fname[string_length:]).split(os.path.sep)[1:])
+    return filename_handler_ignore_directive(fname)
+
+
+def filename_handler_add_prefix(fname, prefix):
+    """A filename handler that adds a prefix.
+
+    Args:
+        fname (str): A file name.
+        prefix (str): A prefix.
+
+    Returns:
+        str: Prefix plus file name.
+    """
+    return prefix + fname
+
+
+def filename_handler_absolute2relative(fname, dir):
+    """A filename handler that turns an absolute file name into a relative one.
+
+    Args:
+        fname (str): A file name.
+        dir (str): A directory.
+
+    Returns:
+        str: The file name relative to the directory.
+    """
+    # TODO: that's not right
+    if fname.startswith(dir):
+        return fname[len(dir) :]
+    return fname
+
+
+def filename_handler_relative(fname, dir):
+    """A filename handler that joins a file name with a directory.
+
+    Args:
+        fname (str): A file name.
+        dir (str): A directory.
+
+    Returns:
+        str: The directory joined with the file name.
+    """
+    return os.path.join(dir, filename_handler_ignore_directive_package(fname))
+
+
+def filename_handler_relative_to_urdf_file(fname, urdf_fname):
+    return filename_handler_relative(fname, os.path.dirname(urdf_fname))
+
+
+def filename_handler_relative_to_urdf_file_recursive(fname, urdf_fname, level=0):
+    if level == 0:
+        return filename_handler_relative_to_urdf_file(fname, urdf_fname)
+    return filename_handler_relative_to_urdf_file_recursive(fname, os.path.split(urdf_fname)[0], level=level - 1)
+
+
+def _create_filename_handlers_to_urdf_file_recursive(urdf_fname):
+    return [
+        partial(
+            filename_handler_relative_to_urdf_file_recursive,
+            urdf_fname=urdf_fname,
+            level=i,
+        )
+        for i in range(len(os.path.normpath(urdf_fname).split(os.path.sep)))
+    ]
+
+
+def filename_handler_meta(fname, filename_handlers):
+    """A filename handler that calls other filename handlers until the resulting file name points to an existing file.
+
+    Args:
+        fname (str): A file name.
+        filename_handlers (list(fn)): A list of function pointers to filename handlers.
+
+    Returns:
+        str: The resolved file name that points to an existing file or the input if none of the files exists.
+    """
+    for fn in filename_handlers:
+        candidate_fname = fn(fname=fname)
+        _logger.debug(f"Checking filename: {candidate_fname}")
+        if os.path.isfile(candidate_fname):
+            return candidate_fname
+    _logger.warning(f"Unable to resolve filename: {fname}")
+    return fname
+
+
+def filename_handler_magic(fname, dir):
+    """A magic filename handler.
+
+    Args:
+        fname (str): A file name.
+        dir (str): A directory.
+
+    Returns:
+        str: The file name that exists or the input if nothing is found.
+    """
+    return filename_handler_meta(
+        fname=fname,
+        filename_handlers=[
+            partial(filename_handler_relative, dir=dir),
+            filename_handler_ignore_directive,
+        ]
+        + _create_filename_handlers_to_urdf_file_recursive(urdf_fname=dir),
+    )
+
+
+def validation_handler_strict(errors):
+    """A validation handler that does not allow any errors.
+
+    Args:
+        errors (list[yourdfpy.URDFError]): List of errors.
+
+    Returns:
+        bool: Whether any errors were found.
+    """
+    return len(errors) == 0
+
+
+class URDF:
+    def __init__(
+        self,
+        robot: Robot = None,
+        build_scene_graph: bool = True,
+        build_collision_scene_graph: bool = False,
+        load_meshes: bool = True,
+        load_collision_meshes: bool = False,
+        filename_handler=None,
+        mesh_dir: str = "",
+        force_mesh: bool = False,
+        force_collision_mesh: bool = True,
+        build_tree: bool = False,
+    ):
+        """A URDF model.
+
+        Args:
+            robot (Robot): The robot model. Defaults to None.
+            build_scene_graph (bool, optional): Wheter to build a scene graph to enable transformation queries and forward kinematics. Defaults to True.
+            build_collision_scene_graph (bool, optional): Wheter to build a scene graph for <collision> elements. Defaults to False.
+            load_meshes (bool, optional): Whether to load the meshes referenced in the <mesh> elements. Defaults to True.
+            load_collision_meshes (bool, optional): Whether to load the collision meshes referenced in the <mesh> elements. Defaults to False.
+            filename_handler ([type], optional): Any function f(in: str) -> str, that maps filenames in the URDF to actual resources. Can be used to customize treatment of `package://` directives or relative/absolute filenames. Defaults to None.
+            mesh_dir (str, optional): A root directory used for loading meshes. Defaults to "".
+            force_mesh (bool, optional): Each loaded geometry will be concatenated into a single one (instead of being turned into a graph; in case the underlying file contains multiple geometries). This might loose texture information but the resulting scene graph will be smaller. Defaults to False.
+            force_collision_mesh (bool, optional): Same as force_mesh, but for collision scene. Defaults to True.
+            build_tree (bool, optional): Build the tree structure for global kinematics computation
+        """
+        if filename_handler is None:
+            self._filename_handler = partial(filename_handler_magic, dir=mesh_dir)
+        else:
+            self._filename_handler = filename_handler
+
+        self.robot = robot
+        self._create_maps()
+        self._update_actuated_joints()
+
+        self._cfg = self.zero_cfg
+
+        if build_scene_graph or build_collision_scene_graph:
+            self._base_link = self._determine_base_link()
+        else:
+            self._base_link = None
+
+        self._errors = []
+
+        if build_scene_graph:
+            self._scene = self._create_scene(
+                use_collision_geometry=False,
+                load_geometry=load_meshes,
+                force_mesh=force_mesh,
+                force_single_geometry_per_link=force_mesh,
+            )
+        else:
+            self._scene = None
+
+        if build_collision_scene_graph:
+            self._scene_collision = self._create_scene(
+                use_collision_geometry=True,
+                load_geometry=load_collision_meshes,
+                force_mesh=force_collision_mesh,
+                force_single_geometry_per_link=force_collision_mesh,
+            )
+        else:
+            self._scene_collision = None
+
+        if build_tree:
+            self.tree_root = self.build_tree()
+        else:
+            self.tree_root = None
+
+    @property
+    def scene(self) -> trimesh.Scene:
+        """A scene object representing the URDF model.
+
+        Returns:
+            trimesh.Scene: A trimesh scene object.
+        """
+        return self._scene
+
+    @property
+    def collision_scene(self) -> trimesh.Scene:
+        """A scene object representing the <collision> elements of the URDF model
+
+        Returns:
+            trimesh.Scene: A trimesh scene object.
+        """
+        return self._scene_collision
+
+    @property
+    def link_map(self) -> dict:
+        """A dictionary mapping link names to link objects.
+
+        Returns:
+            dict: Mapping from link name (str) to Link.
+        """
+        return self._link_map
+
+    @property
+    def joint_map(self) -> dict:
+        """A dictionary mapping joint names to joint objects.
+
+        Returns:
+            dict: Mapping from joint name (str) to Joint.
+        """
+        return self._joint_map
+
+    @property
+    def joint_names(self):
+        """List of joint names.
+
+        Returns:
+            list[str]: List of joint names of the URDF model.
+        """
+        return [j.name for j in self.robot.joints]
+
+    @property
+    def actuated_joints(self):
+        """List of actuated joints. This excludes mimic and fixed joints.
+
+        Returns:
+            list[Joint]: List of actuated joints of the URDF model.
+        """
+        return self._actuated_joints
+
+    @property
+    def actuated_dof_indices(self):
+        """List of DOF indices per actuated joint. Can be used to reference configuration.
+
+        Returns:
+            list[list[int]]: List of DOF indices per actuated joint.
+        """
+        return self._actuated_dof_indices
+
+    @property
+    def actuated_joint_indices(self):
+        """List of indices of all joints that are actuated, i.e., not of type mimic or fixed.
+
+        Returns:
+            list[int]: List of indices of actuated joints.
+        """
+        return self._actuated_joint_indices
+
+    @property
+    def actuated_joint_names(self):
+        """List of names of actuated joints. This excludes mimic and fixed joints.
+
+        Returns:
+            list[str]: List of names of actuated joints of the URDF model.
+        """
+        return [j.name for j in self._actuated_joints]
+
+    @property
+    def num_actuated_joints(self):
+        """Number of actuated joints.
+
+        Returns:
+            int: Number of actuated joints.
+        """
+        return len(self.actuated_joints)
+
+    @property
+    def num_dofs(self):
+        """Number of degrees of freedom of actuated joints. Depending on the type of the joint, the number of DOFs might vary.
+
+        Returns:
+            int: Degrees of freedom.
+        """
+        total_num_dofs = 0
+        for j in self._actuated_joints:
+            if j.type in ["revolute", "prismatic", "continuous"]:
+                total_num_dofs += 1
+            elif j.type == "floating":
+                total_num_dofs += 6
+            elif j.type == "planar":
+                total_num_dofs += 2
+        return total_num_dofs
+
+    @property
+    def zero_cfg(self):
+        """Return the zero configuration.
+
+        Returns:
+            np.ndarray: The zero configuration.
+        """
+        return np.zeros(self.num_dofs)
+
+    @property
+    def center_cfg(self):
+        """Return center configuration of URDF model by using the average of each joint's limits if present, otherwise zero.
+
+        Returns:
+            (n), float: Default configuration of URDF model.
+        """
+        config = []
+        config_names = []
+        for j in self._actuated_joints:
+            if j.type == "revolute" or j.type == "prismatic":
+                if j.limit is not None:
+                    cfg = [j.limit.lower + 0.5 * (j.limit.upper - j.limit.lower)]
+                else:
+                    cfg = [0.0]
+            elif j.type == "continuous":
+                cfg = [0.0]
+            elif j.type == "floating":
+                cfg = [0.0] * 6
+            elif j.type == "planar":
+                cfg = [0.0] * 2
+
+            config.append(cfg)
+            config_names.append(j.name)
+
+        for i, j in enumerate(self.robot.joints):
+            if j.mimic is not None:
+                index = config_names.index(j.mimic.joint)
+                config[i][0] = config[index][0] * j.mimic.multiplier + j.mimic.offset
+
+        if len(config) == 0:
+            return np.array([], dtype=np.float64)
+        return np.concatenate(config)
+
+    @property
+    def cfg(self):
+        """Current configuration.
+
+        Returns:
+            np.ndarray: Current configuration of URDF model.
+        """
+        return self._cfg
+
+    @property
+    def base_link(self):
+        """Name of URDF base/root link.
+
+        Returns:
+            str: Name of base link of URDF model.
+        """
+        return self._base_link
+
+    @property
+    def errors(self) -> list:
+        """A list with validation errors.
+
+        Returns:
+            list: A list of validation errors.
+        """
+        return self._errors
+
+    def clear_errors(self):
+        """Clear the validation error log."""
+        self._errors = []
+
+    def show(self, collision_geometry=False, callback=None):
+        """Open a simpler viewer displaying the URDF model.
+
+        Args:
+            collision_geometry (bool, optional): Whether to display the <collision> or <visual> elements. Defaults to False.
+        """
+        if collision_geometry:
+            if self._scene_collision is None:
+                raise ValueError(
+                    "No collision scene available. Use build_collision_scene_graph=True and load_collision_meshes=True during loading."
+                )
+            else:
+                self._scene_collision.show(callback=callback)
+        else:
+            if self._scene is None:
+                raise ValueError("No scene available. Use build_scene_graph=True and load_meshes=True during loading.")
+            elif len(self._scene.bounds_corners) < 1:
+                raise ValueError(
+                    "Scene is empty, maybe meshes failed to load? Use build_scene_graph=True and load_meshes=True during loading."
+                )
+            else:
+                self._scene.show(callback=callback)
+
+    def validate(self, validation_fn=None) -> bool:
+        """Validate URDF model.
+
+        Args:
+            validation_fn (function, optional): A function f(list[yourdfpy.URDFError]) -> bool. None uses the strict handler (any error leads to False). Defaults to None.
+
+        Returns:
+            bool: Whether the model is valid.
+        """
+        self._errors = []
+        self._validate_robot(self.robot)
+
+        if validation_fn is None:
+            validation_fn = validation_handler_strict
+
+        return validation_fn(self._errors)
+
+    def _create_maps(self):
+        self._material_map = {}
+        for m in self.robot.materials:
+            self._material_map[m.name] = m
+
+        self._joint_map = {}
+        for j in self.robot.joints:
+            self._joint_map[j.name] = j
+
+        self._link_map = {}
+        for l in self.robot.links:
+            self._link_map[l.name] = l
+
+    def _update_actuated_joints(self):
+        self._actuated_joints = []
+        self._actuated_joint_indices = []
+        self._actuated_dof_indices = []
+
+        dof_indices_cnt = 0
+        for i, j in enumerate(self.robot.joints):
+            if j.mimic is None and j.type != "fixed":
+                self._actuated_joints.append(j)
+                self._actuated_joint_indices.append(i)
+
+                if j.type in ["prismatic", "revolute", "continuous"]:
+                    self._actuated_dof_indices.append([dof_indices_cnt])
+                    dof_indices_cnt += 1
+                elif j.type == "floating":
+                    self._actuated_dof_indices.append([dof_indices_cnt, dof_indices_cnt + 1, dof_indices_cnt + 2])
+                    dof_indices_cnt += 3
+                elif j.type == "planar":
+                    self._actuated_dof_indices.append([dof_indices_cnt, dof_indices_cnt + 1])
+                    dof_indices_cnt += 2
+
+    def _validate_required_attribute(self, attribute, error_msg, allowed_values=None):
+        if attribute is None:
+            self._errors.append(URDFIncompleteError(error_msg))
+        elif isinstance(attribute, str) and len(attribute) == 0:
+            self._errors.append(URDFIncompleteError(error_msg))
+
+        if allowed_values is not None and attribute is not None:
+            if attribute not in allowed_values:
+                self._errors.append(URDFAttributeValueError(error_msg))
+
+    @staticmethod
+    def load(fname_or_file, add_dummy_free_joints=False, **kwargs):
+        """Load URDF file from filename or file object.
+
+        Args:
+            fname_or_file (str or file object): A filename or file object, file-like object, stream representing the URDF file.
+            **build_scene_graph (bool, optional): Wheter to build a scene graph to enable transformation queries and forward kinematics. Defaults to True.
+            **build_collision_scene_graph (bool, optional): Wheter to build a scene graph for <collision> elements. Defaults to False.
+            **load_meshes (bool, optional): Whether to load the meshes referenced in the <mesh> elements. Defaults to True.
+            **load_collision_meshes (bool, optional): Whether to load the collision meshes referenced in the <mesh> elements. Defaults to False.
+            **filename_handler ([type], optional): Any function f(in: str) -> str, that maps filenames in the URDF to actual resources. Can be used to customize treatment of `package://` directives or relative/absolute filenames. Defaults to None.
+            **mesh_dir (str, optional): A root directory used for loading meshes. Defaults to "".
+            **force_mesh (bool, optional): Each loaded geometry will be concatenated into a single one (instead of being turned into a graph; in case the underlying file contains multiple geometries). This might loose texture information but the resulting scene graph will be smaller. Defaults to False.
+            **force_collision_mesh (bool, optional): Same as force_mesh, but for collision scene. Defaults to True.
+
+        Raises:
+            ValueError: If filename does not exist.
+
+        Returns:
+            yourdfpy.URDF: URDF model.
+        """
+        if isinstance(fname_or_file, six.string_types):
+            if not os.path.isfile(fname_or_file):
+                raise ValueError("{} is not a file".format(fname_or_file))
+
+            if not "mesh_dir" in kwargs:
+                kwargs["mesh_dir"] = os.path.dirname(fname_or_file)
+
+        try:
+            parser = etree.XMLParser(remove_blank_text=True)
+            tree = etree.parse(fname_or_file, parser=parser)
+            xml_root = tree.getroot()
+        except Exception as e:
+            _logger.error(e)
+            _logger.error("Using different parsing approach.")
+
+            events = ("start", "end", "start-ns", "end-ns")
+            xml = etree.iterparse(fname_or_file, recover=True, events=events)
+
+            # Iterate through all XML elements
+            for action, elem in xml:
+                # Skip comments and processing instructions,
+                # because they do not have names
+                if not (isinstance(elem, etree._Comment) or isinstance(elem, etree._ProcessingInstruction)):
+                    # Remove a namespace URI in the element's name
+                    # elem.tag = etree.QName(elem).localname
+                    if action == "end" and ":" in elem.tag:
+                        elem.getparent().remove(elem)
+
+            xml_root = xml.root
+
+        # Remove comments
+        etree.strip_tags(xml_root, etree.Comment)
+        etree.cleanup_namespaces(xml_root)
+
+        return URDF(
+            robot=URDF._parse_robot(xml_element=xml_root, add_dummy_free_joints=add_dummy_free_joints), **kwargs
+        )
+
+    def contains(self, key, value, element=None) -> bool:
+        """Checks recursively whether the URDF tree contains the provided key-value pair.
+
+        Args:
+            key (str): A key.
+            value (str): A value.
+            element (etree.Element, optional): The XML element from which to start the recursive search. None means URDF root. Defaults to None.
+
+        Returns:
+            bool: Whether the key-value pair was found.
+        """
+        if element is None:
+            element = self.robot
+
+        result = False
+        for field in element.__dataclass_fields__:
+            field_value = getattr(element, field)
+            if is_dataclass(field_value):
+                result = result or self.contains(key=key, value=value, element=field_value)
+            elif isinstance(field_value, list) and len(field_value) > 0 and is_dataclass(field_value[0]):
+                for field_value_element in field_value:
+                    result = result or self.contains(key=key, value=value, element=field_value_element)
+            else:
+                if key == field and value == field_value:
+                    result = True
+        return result
+
+    def _determine_base_link(self):
+        """Get the base link of the URDF tree by extracting all links without parents.
+        In case multiple links could be root chose the first.
+
+        Returns:
+            str: Name of the base link.
+        """
+        link_names = [l.name for l in self.robot.links]
+
+        for j in self.robot.joints:
+            link_names.remove(j.child)
+
+        if len(link_names) == 0:
+            # raise Error?
+            return None
+
+        return link_names[0]
+
+    def _forward_kinematics_joint(self, joint, q=None):
+        origin = np.eye(4) if joint.origin is None else joint.origin
+
+        if joint.mimic is not None:
+            if joint.mimic.joint in self.actuated_joint_names:
+                mimic_joint_index = self.actuated_joint_names.index(joint.mimic.joint)
+                q = self._cfg[mimic_joint_index] * joint.mimic.multiplier + joint.mimic.offset
+            else:
+                # _logger.warning(
+                #     f"Joint '{joint.name}' is supposed to mimic '{joint.mimic.joint}'. But this joint is not actuated - will assume (0.0 + offset)."
+                # )
+                q = 0.0 + joint.mimic.offset
+
+        if joint.type in ["revolute", "prismatic", "continuous"]:
+            if q is None:
+                # Use internal cfg vector for forward kinematics
+                q = float(self.cfg[self.actuated_dof_indices[self.actuated_joint_names.index(joint.name)]])
+
+            if joint.type == "prismatic":
+                matrix = origin @ tra.translation_matrix(q * joint.axis)
+            else:
+                matrix = origin @ tra.rotation_matrix(q, joint.axis)
+        else:
+            # this includes: floating, planar, fixed
+            matrix = origin
+
+        return matrix, q
+
+    def update_cfg(self, configuration):
+        """Update joint configuration of URDF; does forward kinematics.
+
+        Args:
+            configuration (dict, list[float], tuple[float] or np.ndarray): A mapping from joints or joint names to configuration values, or a list containing a value for each actuated joint.
+
+        Raises:
+            ValueError: Raised if dimensionality of configuration does not match number of actuated joints of URDF model.
+            TypeError: Raised if configuration is neither a dict, list, tuple or np.ndarray.
+        """
+        joint_cfg = []
+
+        if isinstance(configuration, dict):
+            for joint in configuration:
+                if isinstance(joint, six.string_types):
+                    joint_cfg.append((self._joint_map[joint], configuration[joint]))
+                elif isinstance(joint, Joint):
+                    # TODO: Joint is not hashable; so this branch will not succeed
+                    joint_cfg.append((joint, configuration[joint]))
+        elif isinstance(configuration, (list, tuple, np.ndarray)):
+            if len(configuration) == len(self.robot.joints):
+                for joint, value in zip(self.robot.joints, configuration):
+                    joint_cfg.append((joint, value))
+            elif len(configuration) == self.num_actuated_joints:
+                for joint, value in zip(self._actuated_joints, configuration):
+                    joint_cfg.append((joint, value))
+            else:
+                raise ValueError(
+                    f"Dimensionality of configuration ({len(configuration)}) doesn't match number of all ({len(self.robot.joints)}) or actuated joints ({self.num_actuated_joints})."
+                )
+        else:
+            raise TypeError("Invalid type for configuration")
+
+        # append all mimic joints in the update
+        for j, q in joint_cfg + [(j, 0.0) for j in self.robot.joints if j.mimic is not None]:
+            matrix, joint_q = self._forward_kinematics_joint(j, q=q)
+
+            # update internal configuration vector - only consider actuated joints
+            if j.name in self.actuated_joint_names:
+                self._cfg[self.actuated_dof_indices[self.actuated_joint_names.index(j.name)]] = joint_q
+
+            if self._scene is not None:
+                self._scene.graph.update(frame_from=j.parent, frame_to=j.child, matrix=matrix)
+            if self._scene_collision is not None:
+                self._scene_collision.graph.update(frame_from=j.parent, frame_to=j.child, matrix=matrix)
+
+    def get_transform(self, frame_to, frame_from=None, collision_geometry=False):
+        """Get the transform from one frame to another.
+
+        Args:
+            frame_to (str): Node name.
+            frame_from (str, optional): Node name. If None it will be set to self.base_frame. Defaults to None.
+            collision_geometry (bool, optional): Whether to use the collision geometry scene graph (instead of the visual geometry). Defaults to False.
+
+        Raises:
+            ValueError: Raised if scene graph wasn't constructed during intialization.
+
+        Returns:
+            (4, 4) float: Homogeneous transformation matrix
+        """
+        if collision_geometry:
+            if self._scene_collision is None:
+                raise ValueError("No collision scene available. Use build_collision_scene_graph=True during loading.")
+            else:
+                return self._scene_collision.graph.get(frame_to=frame_to, frame_from=frame_from)[0]
+        else:
+            if self._scene is None:
+                raise ValueError("No scene available. Use build_scene_graph=True during loading.")
+            else:
+                return self._scene.graph.get(frame_to=frame_to, frame_from=frame_from)[0]
+
+    def _link_mesh(self, link, collision_geometry=True):
+        geometries = link.collisions if collision_geometry else link.visuals
+
+        if len(geometries) == 0:
+            return None
+
+        meshes = []
+        for g in geometries:
+            for m in g.geometry.meshes:
+                m = m.copy()
+                pose = g.origin
+                if g.geometry.mesh is not None:
+                    if g.geometry.mesh.scale is not None:
+                        S = np.eye(4)
+                        S[:3, :3] = np.diag(g.geometry.mesh.scale)
+                        pose = pose.dot(S)
+                m.apply_transform(pose)
+                meshes.append(m)
+        if len(meshes) == 0:
+            return None
+        self._collision_mesh = meshes[0] + meshes[1:]
+        return self._collision_mesh
+
+    def _geometry2trimeshscene(self, geometry, load_file, force_mesh, skip_materials):
+        new_s = None
+        if geometry.box is not None:
+            new_s = trimesh.primitives.Box(extents=geometry.box.size).scene()
+        elif geometry.sphere is not None:
+            new_s = trimesh.primitives.Sphere(radius=geometry.sphere.radius).scene()
+        elif geometry.cylinder is not None:
+            new_s = trimesh.primitives.Cylinder(
+                radius=geometry.cylinder.radius, height=geometry.cylinder.length
+            ).scene()
+        elif geometry.mesh is not None and load_file:
+            new_filename = self._filename_handler(fname=geometry.mesh.filename)
+
+            if os.path.isfile(new_filename):
+                _logger.debug(f"Loading {geometry.mesh.filename} as {new_filename}")
+
+                if force_mesh:
+                    new_g = trimesh.load(
+                        new_filename,
+                        ignore_broken=True,
+                        force="mesh",
+                        skip_materials=skip_materials,
+                    )
+
+                    # add original filename
+                    if "file_path" not in new_g.metadata:
+                        new_g.metadata["file_path"] = os.path.abspath(new_filename)
+                        new_g.metadata["file_name"] = os.path.basename(new_filename)
+
+                    new_s = trimesh.Scene()
+                    new_s.add_geometry(new_g)
+                else:
+                    new_s = trimesh.load(
+                        new_filename,
+                        ignore_broken=True,
+                        force="scene",
+                        skip_materials=skip_materials,
+                    )
+
+                    if "file_path" in new_s.metadata:
+                        for i, (_, geom) in enumerate(new_s.geometry.items()):
+                            if "file_path" not in geom.metadata:
+                                geom.metadata["file_path"] = new_s.metadata["file_path"]
+                                geom.metadata["file_name"] = new_s.metadata["file_name"]
+                                geom.metadata["file_element"] = i
+
+                # scale mesh appropriately
+                if geometry.mesh.scale is not None:
+                    if isinstance(geometry.mesh.scale, float):
+                        new_s = new_s.scaled(geometry.mesh.scale)
+                    elif isinstance(geometry.mesh.scale, np.ndarray):
+                        new_s = new_s.scaled(geometry.mesh.scale)
+                    else:
+                        _logger.warning(f"Warning: Can't interpret scale '{geometry.mesh.scale}'")
+            else:
+                _logger.warning(f"Can't find {new_filename}")
+        return new_s
+
+    def _add_geometries_to_scene(
+        self,
+        s,
+        geometries,
+        link_name,
+        load_geometry,
+        force_mesh,
+        force_single_geometry,
+        skip_materials,
+    ):
+        if force_single_geometry:
+            tmp_scene = trimesh.Scene(base_frame=link_name)
+
+        first_geom_name = None
+
+        for v in geometries:
+            if v.geometry is not None:
+                if first_geom_name is None:
+                    first_geom_name = v.name
+
+                new_s = self._geometry2trimeshscene(
+                    geometry=v.geometry,
+                    load_file=load_geometry,
+                    force_mesh=force_mesh,
+                    skip_materials=skip_materials,
+                )
+                if new_s is not None:
+                    origin = v.origin if v.origin is not None else np.eye(4)
+
+                    if force_single_geometry:
+                        for name, geom in new_s.geometry.items():
+                            if isinstance(v, Visual):
+                                apply_visual_color(geom, v, self._material_map)
+                            tmp_scene.add_geometry(
+                                geometry=geom,
+                                geom_name=v.name,
+                                parent_node_name=link_name,
+                                transform=origin @ new_s.graph.get(name)[0],
+                            )
+                    else:
+                        # The following map is used to deal with glb format
+                        # when the graph node and geometry have different names
+                        geom_name_map = {new_s.graph[node_name][1]: node_name for node_name in new_s.graph.nodes}
+                        for name, geom in new_s.geometry.items():
+                            if isinstance(v, Visual):
+                                apply_visual_color(geom, v, self._material_map)
+                            s.add_geometry(
+                                geometry=geom,
+                                geom_name=v.name,
+                                parent_node_name=link_name,
+                                transform=origin @ new_s.graph.get(geom_name_map[name])[0],
+                            )
+
+        if force_single_geometry and len(tmp_scene.geometry) > 0:
+            s.add_geometry(
+                geometry=tmp_scene.dump(concatenate=True),
+                geom_name=first_geom_name,
+                parent_node_name=link_name,
+                transform=np.eye(4),
+            )
+
+    def _create_scene(
+        self,
+        use_collision_geometry=False,
+        load_geometry=True,
+        force_mesh=False,
+        force_single_geometry_per_link=False,
+    ):
+        s = trimesh.scene.Scene(base_frame=self._base_link)
+
+        for j in self.robot.joints:
+            matrix, _ = self._forward_kinematics_joint(j)
+
+            s.graph.update(frame_from=j.parent, frame_to=j.child, matrix=matrix)
+
+        for l in self.robot.links:
+            if l.name not in s.graph.nodes and l.name != s.graph.base_frame:
+                _logger.warning(f"{l.name} not connected via joints. Will add link to base frame.")
+                s.graph.update(frame_from=s.graph.base_frame, frame_to=l.name)
+
+            meshes = l.collisions if use_collision_geometry else l.visuals
+            self._add_geometries_to_scene(
+                s,
+                geometries=meshes,
+                link_name=l.name,
+                load_geometry=load_geometry,
+                force_mesh=force_mesh,
+                force_single_geometry=force_single_geometry_per_link,
+                skip_materials=use_collision_geometry,
+            )
+
+        return s
+
+    def _successors(self, node):
+        """
+        Get all nodes of the scene that succeeds a specified node.
+
+        Parameters
+        ------------
+        node : any
+          Hashable key in `scene.graph`
+
+        Returns
+        -----------
+        subnodes : set[str]
+          Set of nodes.
+        """
+        # get every node that is a successor to specified node
+        # this includes `node`
+        return self._scene.graph.transforms.successors(node)
+
+    def _create_subrobot(self, robot_name, root_link_name):
+        subrobot = Robot(name=robot_name)
+        subnodes = self._successors(node=root_link_name)
+
+        if len(subnodes) > 0:
+            for node in subnodes:
+                if node in self.link_map:
+                    subrobot.links.append(copy.deepcopy(self.link_map[node]))
+            for joint_name, joint in self.joint_map.items():
+                if joint.parent in subnodes and joint.child in subnodes:
+                    subrobot.joints.append(copy.deepcopy(self.joint_map[joint_name]))
+
+        return subrobot
+
+    def split_along_joints(self, joint_type="floating", **kwargs):
+        """Split URDF model along a particular joint type.
+        The result is a set of URDF models which together compose the original URDF.
+
+        Args:
+            joint_type (str, or list[str], optional): Type of joint to use for splitting. Defaults to "floating".
+            **kwargs: Arguments delegated to URDF constructor of new URDF models.
+
+        Returns:
+            list[(np.ndarray, yourdfpy.URDF)]: A list of tuples (np.ndarray, yourdfpy.URDF) whereas each homogeneous 4x4 matrix describes the root transformation of the respective URDF model w.r.t. the original URDF.
+        """
+        root_urdf = URDF(robot=copy.deepcopy(self.robot), build_scene_graph=False, load_meshes=False)
+        result = []
+
+        joint_types = joint_type if isinstance(joint_type, list) else [joint_type]
+
+        # find all relevant joints
+        joint_names = [j.name for j in self.robot.joints if j.type in joint_types]
+        for joint_name in joint_names:
+            root_link = self.link_map[self.joint_map[joint_name].child]
+            new_robot = self._create_subrobot(
+                robot_name=root_link.name,
+                root_link_name=root_link.name,
+            )
+
+            result.append(
+                (
+                    self._scene.graph.get(root_link.name)[0],
+                    URDF(robot=new_robot, **kwargs),
+                )
+            )
+
+            # remove links and joints from root robot
+            for j in new_robot.joints:
+                root_urdf.robot.joints.remove(root_urdf.joint_map[j.name])
+            for l in new_robot.links:
+                root_urdf.robot.links.remove(root_urdf.link_map[l.name])
+
+            # remove joint that connects root urdf to root_link
+            if root_link.name in [j.child for j in root_urdf.robot.joints]:
+                root_urdf.robot.joints.remove(
+                    root_urdf.robot.joints[[j.child for j in root_urdf.robot.joints].index(root_link.name)]
+                )
+
+        result.insert(0, (np.eye(4), URDF(robot=root_urdf.robot, **kwargs)))
+
+        return result
+
+    def validate_filenames(self):
+        for l in self.robot.links:
+            meshes = [m.geometry.mesh for m in l.collisions + l.visuals if m.geometry.mesh is not None]
+            for m in meshes:
+                _logger.debug(m.filename, "-->", self._filename_handler(m.filename))
+                if not os.path.isfile(self._filename_handler(m.filename)):
+                    return False
+        return True
+
+    def write_xml(self):
+        """Write URDF model to an XML element hierarchy.
+
+        Returns:
+            etree.ElementTree: XML data.
+        """
+        xml_element = self._write_robot(self.robot)
+        return etree.ElementTree(xml_element)
+
+    def write_xml_string(self, **kwargs):
+        """Write URDF model to a string.
+
+        Returns:
+            str: String of the xml representation of the URDF model.
+        """
+        xml_element = self.write_xml()
+        return etree.tostring(xml_element, xml_declaration=True, *kwargs)
+
+    def write_xml_file(self, fname):
+        """Write URDF model to an xml file.
+
+        Args:
+            fname (str): Filename of the file to be written. Usually ends in `.urdf`.
+        """
+        xml_element = self.write_xml()
+        xml_element.write(fname, xml_declaration=True, pretty_print=True)
+
+    def _parse_mimic(xml_element):
+        if xml_element is None:
+            return None
+
+        return Mimic(
+            joint=xml_element.get("joint"),
+            multiplier=_str2float(xml_element.get("multiplier", 1.0)),
+            offset=_str2float(xml_element.get("offset", 0.0)),
+        )
+
+    def _write_mimic(self, xml_parent, mimic):
+        etree.SubElement(
+            xml_parent,
+            "mimic",
+            attrib={
+                "joint": mimic.joint,
+                "multiplier": str(mimic.multiplier),
+                "offset": str(mimic.offset),
+            },
+        )
+
+    def _parse_safety_controller(xml_element):
+        if xml_element is None:
+            return None
+
+        return SafetyController(
+            soft_lower_limit=_str2float(xml_element.get("soft_lower_limit")),
+            soft_upper_limit=_str2float(xml_element.get("soft_upper_limit")),
+            k_position=_str2float(xml_element.get("k_position")),
+            k_velocity=_str2float(xml_element.get("k_velocity")),
+        )
+
+    def _write_safety_controller(self, xml_parent, safety_controller):
+        etree.SubElement(
+            xml_parent,
+            "safety_controller",
+            attrib={
+                "soft_lower_limit": str(safety_controller.soft_lower_limit),
+                "soft_upper_limit": str(safety_controller.soft_upper_limit),
+                "k_position": str(safety_controller.k_position),
+                "k_velocity": str(safety_controller.k_velocity),
+            },
+        )
+
+    def _parse_transmission_joint(xml_element):
+        if xml_element is None:
+            return None
+
+        transmission_joint = TransmissionJoint(name=xml_element.get("name"))
+
+        for h in xml_element.findall("hardware_interface"):
+            transmission_joint.hardware_interfaces.append(h.text)
+
+        return transmission_joint
+
+    def _write_transmission_joint(self, xml_parent, transmission_joint):
+        xml_element = etree.SubElement(
+            xml_parent,
+            "joint",
+            attrib={
+                "name": str(transmission_joint.name),
+            },
+        )
+        for h in transmission_joint.hardware_interfaces:
+            tmp = etree.SubElement(
+                xml_element,
+                "hardwareInterface",
+            )
+            tmp.text = h
+
+    def _parse_actuator(xml_element):
+        if xml_element is None:
+            return None
+
+        actuator = Actuator(name=xml_element.get("name"))
+        if xml_element.find("mechanicalReduction"):
+            actuator.mechanical_reduction = float(xml_element.find("mechanicalReduction").text)
+
+        for h in xml_element.findall("hardwareInterface"):
+            actuator.hardware_interfaces.append(h.text)
+
+        return actuator
+
+    def _write_actuator(self, xml_parent, actuator):
+        xml_element = etree.SubElement(
+            xml_parent,
+            "actuator",
+            attrib={
+                "name": str(actuator.name),
+            },
+        )
+        if actuator.mechanical_reduction is not None:
+            tmp = etree.SubElement("mechanicalReduction")
+            tmp.text = str(actuator.mechanical_reduction)
+
+        for h in actuator.hardware_interfaces:
+            tmp = etree.SubElement(
+                xml_element,
+                "hardwareInterface",
+            )
+            tmp.text = h
+
+    def _parse_transmission(xml_element):
+        if xml_element is None:
+            return None
+
+        transmission = Transmission(name=xml_element.get("name"))
+
+        for j in xml_element.findall("joint"):
+            transmission.joints.append(URDF._parse_transmission_joint(j))
+        for a in xml_element.findall("actuator"):
+            transmission.actuators.append(URDF._parse_actuator(a))
+
+        return transmission
+
+    def _write_transmission(self, xml_parent, transmission):
+        xml_element = etree.SubElement(
+            xml_parent,
+            "transmission",
+            attrib={
+                "name": str(transmission.name),
+            },
+        )
+
+        for j in transmission.joints:
+            self._write_transmission_joint(xml_element, j)
+
+        for a in transmission.actuators:
+            self._write_actuator(xml_element, a)
+
+    def _parse_calibration(xml_element):
+        if xml_element is None:
+            return None
+
+        return Calibration(
+            rising=_str2float(xml_element.get("rising")),
+            falling=_str2float(xml_element.get("falling")),
+        )
+
+    def _write_calibration(self, xml_parent, calibration):
+        etree.SubElement(
+            xml_parent,
+            "calibration",
+            attrib={
+                "rising": str(calibration.rising),
+                "falling": str(calibration.falling),
+            },
+        )
+
+    def _parse_box(xml_element):
+        return Box(size=np.array(xml_element.attrib["size"].split(), dtype=float))
+
+    def _write_box(self, xml_parent, box):
+        etree.SubElement(xml_parent, "box", attrib={"size": " ".join(map(str, box.size))})
+
+    def _parse_cylinder(xml_element):
+        return Cylinder(
+            radius=float(xml_element.attrib["radius"]),
+            length=float(xml_element.attrib["length"]),
+        )
+
+    def _write_cylinder(self, xml_parent, cylinder):
+        etree.SubElement(
+            xml_parent,
+            "cylinder",
+            attrib={"radius": str(cylinder.radius), "length": str(cylinder.length)},
+        )
+
+    def _parse_sphere(xml_element):
+        return Sphere(radius=float(xml_element.attrib["radius"]))
+
+    def _write_sphere(self, xml_parent, sphere):
+        etree.SubElement(xml_parent, "sphere", attrib={"radius": str(sphere.radius)})
+
+    def _parse_scale(xml_element):
+        if "scale" in xml_element.attrib:
+            s = xml_element.get("scale").split()
+            if len(s) == 0:
+                return None
+            elif len(s) == 1:
+                return float(s[0])
+            else:
+                return np.array(list(map(float, s)))
+        return None
+
+    def _write_scale(self, xml_parent, scale):
+        if scale is not None:
+            if isinstance(scale, float) or isinstance(scale, int):
+                xml_parent.set("scale", " ".join([str(scale)] * 3))
+            else:
+                xml_parent.set("scale", " ".join(map(str, scale)))
+
+    def _parse_mesh(xml_element):
+        return Mesh(filename=xml_element.get("filename"), scale=URDF._parse_scale(xml_element))
+
+    def _write_mesh(self, xml_parent, mesh):
+        # TODO: turn into different filename handler
+        xml_element = etree.SubElement(
+            xml_parent,
+            "mesh",
+            attrib={"filename": self._filename_handler(mesh.filename)},
+        )
+
+        self._write_scale(xml_element, mesh.scale)
+
+    def _parse_geometry(xml_element):
+        geometry = Geometry()
+        if xml_element[0].tag == "box":
+            geometry.box = URDF._parse_box(xml_element[0])
+        elif xml_element[0].tag == "cylinder":
+            geometry.cylinder = URDF._parse_cylinder(xml_element[0])
+        elif xml_element[0].tag == "sphere":
+            geometry.sphere = URDF._parse_sphere(xml_element[0])
+        elif xml_element[0].tag == "mesh":
+            geometry.mesh = URDF._parse_mesh(xml_element[0])
+        else:
+            raise ValueError(f"Unknown tag: {xml_element[0].tag}")
+
+        return geometry
+
+    def _validate_geometry(self, geometry):
+        if geometry is None:
+            self._errors.append(URDFIncompleteError("<geometry> is missing."))
+
+        num_nones = sum(
+            [
+                x is not None
+                for x in [
+                    geometry.box,
+                    geometry.cylinder,
+                    geometry.sphere,
+                    geometry.mesh,
+                ]
+            ]
+        )
+        if num_nones < 1:
+            self._errors.append(
+                URDFIncompleteError(
+                    "One of <sphere>, <cylinder>, <box>, <mesh> needs to be defined as a child of <geometry>."
+                )
+            )
+        elif num_nones > 1:
+            self._errors.append(
+                URDFError(
+                    "Too many of <sphere>, <cylinder>, <box>, <mesh> defined as a child of <geometry>. Only one allowed."
+                )
+            )
+
+    def _write_geometry(self, xml_parent, geometry):
+        if geometry is None:
+            return
+
+        xml_element = etree.SubElement(xml_parent, "geometry")
+        if geometry.box is not None:
+            self._write_box(xml_element, geometry.box)
+        elif geometry.cylinder is not None:
+            self._write_cylinder(xml_element, geometry.cylinder)
+        elif geometry.sphere is not None:
+            self._write_sphere(xml_element, geometry.sphere)
+        elif geometry.mesh is not None:
+            self._write_mesh(xml_element, geometry.mesh)
+
+    def _parse_origin(xml_element):
+        if xml_element is None:
+            return None
+
+        xyz = xml_element.get("xyz", default="0 0 0")
+        rpy = xml_element.get("rpy", default="0 0 0")
+
+        return tra.compose_matrix(
+            translate=np.array(list(map(float, xyz.split()))),
+            angles=np.array(list(map(float, rpy.split()))),
+        )
+
+    def _write_origin(self, xml_parent, origin):
+        if origin is None:
+            return
+
+        etree.SubElement(
+            xml_parent,
+            "origin",
+            attrib={
+                "xyz": " ".join(map(str, tra.translation_from_matrix(origin))),
+                "rpy": " ".join(map(str, tra.euler_from_matrix(origin))),
+            },
+        )
+
+    def _parse_color(xml_element):
+        if xml_element is None:
+            return None
+
+        rgba = xml_element.get("rgba", default="1 1 1 1")
+
+        return Color(rgba=np.array(list(map(float, rgba.split()))))
+
+    def _write_color(self, xml_parent, color):
+        if color is None:
+            return
+
+        etree.SubElement(xml_parent, "color", attrib={"rgba": " ".join(map(str, color.rgba))})
+
+    def _parse_texture(xml_element):
+        if xml_element is None:
+            return None
+
+        # TODO: use texture filename handler
+        return Texture(filename=xml_element.get("filename", default=None))
+
+    def _write_texture(self, xml_parent, texture):
+        if texture is None:
+            return
+
+        # TODO: use texture filename handler
+        etree.SubElement(xml_parent, "texture", attrib={"filename": texture.filename})
+
+    def _parse_material(xml_element):
+        if xml_element is None:
+            return None
+
+        material = Material(name=xml_element.get("name"))
+        material.color = URDF._parse_color(xml_element.find("color"))
+        material.texture = URDF._parse_texture(xml_element.find("texture"))
+
+        return material
+
+    def _write_material(self, xml_parent, material):
+        if material is None:
+            return
+
+        attrib = {"name": material.name} if material.name is not None else {}
+        xml_element = etree.SubElement(
+            xml_parent,
+            "material",
+            attrib=attrib,
+        )
+
+        self._write_color(xml_element, material.color)
+        self._write_texture(xml_element, material.texture)
+
+    def _parse_visual(xml_element):
+        visual = Visual(name=xml_element.get("name"))
+
+        visual.geometry = URDF._parse_geometry(xml_element.find("geometry"))
+        visual.origin = URDF._parse_origin(xml_element.find("origin"))
+        visual.material = URDF._parse_material(xml_element.find("material"))
+
+        return visual
+
+    def _validate_visual(self, visual):
+        self._validate_geometry(visual.geometry)
+
+    def _write_visual(self, xml_parent, visual):
+        attrib = {"name": visual.name} if visual.name is not None else {}
+        xml_element = etree.SubElement(
+            xml_parent,
+            "visual",
+            attrib=attrib,
+        )
+
+        self._write_geometry(xml_element, visual.geometry)
+        self._write_origin(xml_element, visual.origin)
+        self._write_material(xml_element, visual.material)
+
+    def _parse_collision(xml_element):
+        collision = Collision(name=xml_element.get("name"))
+
+        collision.geometry = URDF._parse_geometry(xml_element.find("geometry"))
+        collision.origin = URDF._parse_origin(xml_element.find("origin"))
+
+        return collision
+
+    def _validate_collision(self, collision):
+        self._validate_geometry(collision.geometry)
+
+    def _write_collision(self, xml_parent, collision):
+        attrib = {"name": collision.name} if collision.name is not None else {}
+        xml_element = etree.SubElement(
+            xml_parent,
+            "collision",
+            attrib=attrib,
+        )
+
+        self._write_geometry(xml_element, collision.geometry)
+        self._write_origin(xml_element, collision.origin)
+
+    def _parse_inertia(xml_element):
+        if xml_element is None:
+            return None
+
+        x = xml_element
+
+        return np.array(
+            [
+                [
+                    x.get("ixx", default=1.0),
+                    x.get("ixy", default=0.0),
+                    x.get("ixz", default=0.0),
+                ],
+                [
+                    x.get("ixy", default=0.0),
+                    x.get("iyy", default=1.0),
+                    x.get("iyz", default=0.0),
+                ],
+                [
+                    x.get("ixz", default=0.0),
+                    x.get("iyz", default=0.0),
+                    x.get("izz", default=1.0),
+                ],
+            ],
+            dtype=np.float64,
+        )
+
+    def _write_inertia(self, xml_parent, inertia):
+        if inertia is None:
+            return None
+
+        etree.SubElement(
+            xml_parent,
+            "inertia",
+            attrib={
+                "ixx": str(inertia[0, 0]),
+                "ixy": str(inertia[0, 1]),
+                "ixz": str(inertia[0, 2]),
+                "iyy": str(inertia[1, 1]),
+                "iyz": str(inertia[1, 2]),
+                "izz": str(inertia[2, 2]),
+            },
+        )
+
+    def _parse_mass(xml_element):
+        if xml_element is None:
+            return None
+
+        return _str2float(xml_element.get("value", default=0.0))
+
+    def _write_mass(self, xml_parent, mass):
+        if mass is None:
+            return
+
+        etree.SubElement(
+            xml_parent,
+            "mass",
+            attrib={
+                "value": str(mass),
+            },
+        )
+
+    def _parse_inertial(xml_element):
+        if xml_element is None:
+            return None
+
+        inertial = Inertial()
+        inertial.origin = URDF._parse_origin(xml_element.find("origin"))
+        inertial.inertia = URDF._parse_inertia(xml_element.find("inertia"))
+        inertial.mass = URDF._parse_mass(xml_element.find("mass"))
+
+        return inertial
+
+    def _write_inertial(self, xml_parent, inertial):
+        if inertial is None:
+            return
+
+        xml_element = etree.SubElement(xml_parent, "inertial")
+
+        self._write_origin(xml_element, inertial.origin)
+        self._write_mass(xml_element, inertial.mass)
+        self._write_inertia(xml_element, inertial.inertia)
+
+    def _parse_link(xml_element):
+        link = Link(name=xml_element.attrib["name"])
+
+        link.inertial = URDF._parse_inertial(xml_element.find("inertial"))
+
+        for v in xml_element.findall("visual"):
+            link.visuals.append(URDF._parse_visual(v))
+
+        for c in xml_element.findall("collision"):
+            link.collisions.append(URDF._parse_collision(c))
+
+        return link
+
+    def _validate_link(self, link):
+        self._validate_required_attribute(attribute=link.name, error_msg="The <link> tag misses a 'name' attribute.")
+
+        for v in link.visuals:
+            self._validate_visual(v)
+
+        for c in link.collisions:
+            self._validate_collision(c)
+
+    def _write_link(self, xml_parent, link):
+        xml_element = etree.SubElement(
+            xml_parent,
+            "link",
+            attrib={
+                "name": link.name,
+            },
+        )
+
+        self._write_inertial(xml_element, link.inertial)
+        for visual in link.visuals:
+            self._write_visual(xml_element, visual)
+        for collision in link.collisions:
+            self._write_collision(xml_element, collision)
+
+    def _parse_axis(xml_element):
+        if xml_element is None:
+            return np.array([1.0, 0, 0])
+
+        xyz = xml_element.get("xyz", "1 0 0")
+        results = []
+        for x in xyz.split():
+            try:
+                x = float(x)
+            except ValueError:
+                x = 0
+            results.append(x)
+        return np.array(results)
+        # return np.array(list(map(float, xyz.split())))
+
+    def _write_axis(self, xml_parent, axis):
+        if axis is None:
+            return
+
+        etree.SubElement(xml_parent, "axis", attrib={"xyz": " ".join(map(str, axis))})
+
+    def _parse_limit(xml_element):
+        if xml_element is None:
+            return None
+
+        return Limit(
+            effort=_str2float(xml_element.get("effort", default=None)),
+            velocity=_str2float(xml_element.get("velocity", default=None)),
+            lower=_str2float(xml_element.get("lower", default=None)),
+            upper=_str2float(xml_element.get("upper", default=None)),
+        )
+
+    def _validate_limit(self, limit, type):
+        if type in ["revolute", "prismatic"]:
+            self._validate_required_attribute(
+                limit,
+                error_msg="The <limit> of a (prismatic, revolute) joint is missing.",
+            )
+
+            if limit is not None:
+                self._validate_required_attribute(
+                    limit.upper,
+                    error_msg="Tag <limit> of joint is missing attribute 'upper'.",
+                )
+                self._validate_required_attribute(
+                    limit.lower,
+                    error_msg="Tag <limit> of joint is missing attribute 'lower'.",
+                )
+
+        if limit is not None:
+            self._validate_required_attribute(
+                limit.effort,
+                error_msg="Tag <limit> of joint is missing attribute 'effort'.",
+            )
+
+            self._validate_required_attribute(
+                limit.velocity,
+                error_msg="Tag <limit> of joint is missing attribute 'velocity'.",
+            )
+
+    def _write_limit(self, xml_parent, limit):
+        if limit is None:
+            return
+
+        attrib = {}
+        if limit.effort is not None:
+            attrib["effort"] = str(limit.effort)
+        if limit.velocity is not None:
+            attrib["velocity"] = str(limit.velocity)
+        if limit.lower is not None:
+            attrib["lower"] = str(limit.lower)
+        if limit.upper is not None:
+            attrib["upper"] = str(limit.upper)
+
+        etree.SubElement(
+            xml_parent,
+            "limit",
+            attrib=attrib,
+        )
+
+    def _parse_dynamics(xml_element):
+        if xml_element is None:
+            return None
+
+        dynamics = Dynamics()
+        dynamics.damping = xml_element.get("damping", default=None)
+        dynamics.friction = xml_element.get("friction", default=None)
+
+        return dynamics
+
+    def _write_dynamics(self, xml_parent, dynamics):
+        if dynamics is None:
+            return
+
+        attrib = {}
+        if dynamics.damping is not None:
+            attrib["damping"] = str(dynamics.damping)
+        if dynamics.friction is not None:
+            attrib["friction"] = str(dynamics.friction)
+
+        etree.SubElement(
+            xml_parent,
+            "dynamics",
+            attrib=attrib,
+        )
+
+    def _parse_joint(xml_element):
+        joint = Joint(name=xml_element.attrib["name"])
+
+        joint.type = xml_element.get("type", default=None)
+        joint.parent = xml_element.find("parent").get("link")
+        joint.child = xml_element.find("child").get("link")
+        joint.origin = URDF._parse_origin(xml_element.find("origin"))
+        joint.axis = URDF._parse_axis(xml_element.find("axis"))
+        joint.limit = URDF._parse_limit(xml_element.find("limit"))
+        joint.dynamics = URDF._parse_dynamics(xml_element.find("dynamics"))
+        joint.mimic = URDF._parse_mimic(xml_element.find("mimic"))
+        joint.calibration = URDF._parse_calibration(xml_element.find("calibration"))
+        joint.safety_controller = URDF._parse_safety_controller(xml_element.find("safety_controller"))
+
+        return joint
+
+    def _validate_joint(self, joint):
+        self._validate_required_attribute(
+            attribute=joint.name,
+            error_msg="The <joint> tag misses a 'name' attribute.",
+        )
+
+        allowed_types = [
+            "revolute",
+            "continuous",
+            "prismatic",
+            "fixed",
+            "floating",
+            "planar",
+        ]
+        self._validate_required_attribute(
+            attribute=joint.type,
+            error_msg=f"The <joint> tag misses a 'type' attribute or value is not part of allowed values [{', '.join(allowed_types)}].",
+            allowed_values=allowed_types,
+        )
+
+        self._validate_required_attribute(
+            joint.parent,
+            error_msg=f"The <parent> of a <joint> is missing.",
+        )
+
+        self._validate_required_attribute(
+            joint.child,
+            error_msg=f"The <child> of a <joint> is missing.",
+        )
+
+        self._validate_limit(joint.limit, type=joint.type)
+
+    def _write_joint(self, xml_parent, joint):
+        xml_element = etree.SubElement(
+            xml_parent,
+            "joint",
+            attrib={
+                "name": joint.name,
+                "type": joint.type,
+            },
+        )
+
+        etree.SubElement(xml_element, "parent", attrib={"link": joint.parent})
+        etree.SubElement(xml_element, "child", attrib={"link": joint.child})
+        self._write_origin(xml_element, joint.origin)
+        self._write_axis(xml_element, joint.axis)
+        self._write_limit(xml_element, joint.limit)
+        self._write_dynamics(xml_element, joint.dynamics)
+
+    @staticmethod
+    def _parse_robot(xml_element, add_dummy_free_joints=False):
+        robot = Robot(name=xml_element.attrib["name"])
+
+        for l in xml_element.findall("link"):
+            robot.links.append(URDF._parse_link(l))
+        for j in xml_element.findall("joint"):
+            robot.joints.append(URDF._parse_joint(j))
+        for m in xml_element.findall("material"):
+            robot.materials.append(URDF._parse_material(m))
+
+        if add_dummy_free_joints:
+            # Determine root link
+            link_names = [l.name for l in robot.links]
+            for j in robot.joints:
+                link_names.remove(j.child)
+
+            if len(link_names) == 0:
+                raise RuntimeError(f"No root link found for robot.")
+
+            root_link_name = link_names[0]
+            _add_dummy_joints(robot, root_link_name)
+
+        return robot
+
+    def _validate_robot(self, robot):
+        if robot is not None:
+            self._validate_required_attribute(
+                attribute=robot.name,
+                error_msg="The <robot> tag misses a 'name' attribute.",
+            )
+
+            for l in robot.links:
+                self._validate_link(l)
+
+            for j in robot.joints:
+                self._validate_joint(j)
+
+    def _write_robot(self, robot):
+        xml_element = etree.Element("robot", attrib={"name": robot.name})
+        for link in robot.links:
+            self._write_link(xml_element, link)
+        for joint in robot.joints:
+            self._write_joint(xml_element, joint)
+        for material in robot.materials:
+            self._write_material(xml_element, material)
+
+        return xml_element
+
+    def __eq__(self, other):
+        if not isinstance(other, URDF):
+            raise NotImplemented
+        return self.robot == other.robot
+
+    @property
+    def filename_handler(self):
+        return self._filename_handler
+
+    def build_tree(self):
+        parent_child_map: Dict[str, List[str]] = {}
+        for joint in self.robot.joints:
+            if joint.parent in parent_child_map:
+                parent_child_map[joint.parent].append(joint.child)
+            else:
+                parent_child_map[joint.parent] = [joint.child]
+
+        # Sort link with bfs order
+        bfs_link_list = [self.base_link]
+        to_be_handle_list = [self.base_link]
+        while len(to_be_handle_list) > 0:
+            parent = to_be_handle_list.pop(0)
+            if parent not in parent_child_map:
+                continue
+
+            children = parent_child_map[parent]
+            to_be_handle_list.extend(children)
+            bfs_link_list.extend(children)
+        bfs_joint_list = []
+        for link_name in bfs_link_list[1:]:
+            joint_index = [i for i in range(len(self.robot.joints)) if self.robot.joints[i].child == link_name][0]
+            bfs_joint_list.append(self.robot.joints[joint_index])
+
+        # Build tree
+        root = Node(self.base_link, matrix=np.eye(4))
+        for joint in bfs_joint_list:
+            matrix, _ = self._forward_kinematics_joint(joint, 0)
+            parent_node = anytree.search.findall_by_attr(root, value=joint.parent)[0]
+            node = Node(joint.child, parent=parent_node, matrix=matrix)
+        return root
+
+    def update_kinematics(self, configuration):
+        joint_cfg = []
+
+        if isinstance(configuration, dict):
+            for joint in configuration:
+                if isinstance(joint, six.string_types):
+                    joint_cfg.append((self._joint_map[joint], configuration[joint]))
+                elif isinstance(joint, Joint):
+                    # TODO: Joint is not hashable; so this branch will not succeed
+                    joint_cfg.append((joint, configuration[joint]))
+        elif isinstance(configuration, (list, tuple, np.ndarray)):
+            if len(configuration) == len(self.robot.joints):
+                for joint, value in zip(self.robot.joints, configuration):
+                    joint_cfg.append((joint, value))
+            elif len(configuration) == self.num_actuated_joints:
+                for joint, value in zip(self._actuated_joints, configuration):
+                    joint_cfg.append((joint, value))
+            else:
+                raise ValueError(
+                    f"Dimensionality of configuration ({len(configuration)}) doesn't match number of all ({len(self.robot.joints)}) or actuated joints ({self.num_actuated_joints})."
+                )
+        else:
+            raise TypeError("Invalid type for configuration")
+
+        # append all mimic joints in the update
+        for j, q in joint_cfg + [(j, 0.0) for j in self.robot.joints if j.mimic is not None]:
+            matrix, _ = self._forward_kinematics_joint(j, q=q)
+            node = anytree.search.findall_by_attr(self.tree_root, j.child)[0]
+            node.matrix = matrix
+
+        for node in LevelOrderIter(self.tree_root):
+            if node.name == self.base_link:
+                node.global_pose = np.eye(4)
+            else:
+                node.global_pose = node.parent.global_pose @ node.matrix
+
+    def get_link_global_transform(self, link_name):
+        node = anytree.search.findall_by_attr(self.tree_root, link_name)[0]
+
+        return node.global_pose
+
+
+def _add_dummy_joints(robot: Robot, root_link_name: str):
+    # Prepare link and joint properties
+    translation_range = (-5, 5)
+    rotation_range = (-2 * np.pi, 2 * np.pi)
+    joint_types = ["prismatic"] * 3 + ["revolute"] * 3
+    joint_limit = [translation_range] * 3 + [rotation_range] * 3
+    joint_name = DUMMY_JOINT_NAMES.copy()
+    link_name = [f"dummy_{name}_translation_link" for name in "xyz"] + [f"dummy_{name}_rotation_link" for name in "xyz"]
+
+    links = []
+    joints = []
+
+    for i in range(6):
+        inertial = Inertial(
+            mass=0.01, inertia=np.array([[1e-4, 0, 0], [0, 1e-4, 0], [0, 0, 1e-4]]), origin=np.identity(4)
+        )
+        link = Link(name=link_name[i], inertial=inertial)
+        links.append(link)
+
+        joint_axis = np.zeros(3, dtype=int)
+        joint_axis[i % 3] = 1
+        limit = Limit(lower=joint_limit[i][0], upper=joint_limit[i][1], velocity=3.14, effort=10)
+
+        child_name = link_name[i + 1] if i < 5 else root_link_name
+        joint = Joint(
+            name=joint_name[i],
+            type=joint_types[i],
+            parent=link_name[i],
+            child=child_name,
+            origin=np.identity(4),
+            axis=joint_axis,
+            limit=limit,
+        )
+        joints.append(joint)
+
+    robot.joints = joints + robot.joints
+    robot.links = links + robot.links
+
+
+DUMMY_JOINT_NAMES = [f"dummy_{name}_translation_joint" for name in "xyz"] + [
+    f"dummy_{name}_rotation_joint" for name in "xyz"
+]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/README.md b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/README.md
new file mode 100644
index 0000000..3f05225
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/README.md
@@ -0,0 +1,249 @@
+# LinkerEG Teleoperation Glove Module
+
+LinkerEG teleoperation glove ROS2 driver module, receives glove data via serial port and publishes to ROS2 topics.
+
+## Changelog
+
+### 2026-02-04
+- Fixed dead loop bug in initialization
+- Added support for G20 hand
+
+## Features
+
+- **Publish rate**: 50Hz (all topics unified)
+- Auto scan serial port for glove connection
+- Supports left and right hand data
+- Supports sensor raw data publishing (switchable via topic)
+
+## Control Modes
+
+| motion_type | Mode | Description | Receiver needs robot hand connection |
+|-------------|------|-------------|-------------------------------------|
+| `linkereg2` | SDK Control Mode | Glove data publishes to ROS topics directly, SDK controls robot hand | ❌ Not required |
+| `linkereg1` | Receiver Control Mode | Receiver controls robot hand directly, also publishes data to ROS topics | ✅ Required |
+
+## Usage
+
+### 1. Config File
+
+Edit `config/base_config.yml`:
+
+```yaml
+system:
+  # SDK control mode (receiver doesn't need robot hand connection)
+  motion_type: linkereg2
+
+  # Or receiver control mode (receiver must be connected to robot hand)
+  motion_type: linkereg1
+```
+
+#### Serial Port Permission Password
+
+If auto-fixing serial port permissions is needed, configure `password` under `linkereg` (sudo password).
+Note: Values without quotes in YAML are parsed as numbers, use quotes for strings.
+
+```yaml
+linkereg:
+  port: null
+  password: "123456"  # sudo password for fixing serial permissions
+```
+
+### 2. Launch
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+### 3. Enable Debug Print
+
+Edit `config/base_config.yml`:
+
+```yaml
+debug:
+  joint_pub_debug: true
+```
+
+## ROS2 Topics
+
+> **Publish rate**: All topics unified at 50Hz
+
+### Published Topics
+
+| Topic | Message Type | Description | Default State |
+|-------|-------------|-------------|---------------|
+| `/cb_right_hand_control_cmd` | `sensor_msgs/JointState` | Right hand control data | ✅ Enabled |
+| `/cb_left_hand_control_cmd` | `sensor_msgs/JointState` | Left hand control data | ✅ Enabled |
+| `/cb_right_hand_raw_data` | `sensor_msgs/JointState` | Right hand sensor raw data | ❌ Disabled |
+| `/cb_left_hand_raw_data` | `sensor_msgs/JointState` | Left hand sensor raw data | ❌ Disabled |
+
+### Subscribed Topics
+
+| Topic | Message Type | Description |
+|-------|-------------|-------------|
+| `/cb_hand_setting_cmd` | `std_msgs/String` | Settings command (control raw data on/off) |
+
+## Raw Data Feature
+
+Raw data is **disabled** by default, enable via topic command.
+
+### Enable/Disable Raw Data
+
+```bash
+# Enable raw data publishing
+ros2 topic pub --once /cb_hand_setting_cmd std_msgs/String "data: 'on'"
+
+# Disable raw data publishing
+ros2 topic pub --once /cb_hand_setting_cmd std_msgs/String "data: 'off'"
+
+# Listen to raw data
+ros2 topic echo /cb_left_hand_raw_data
+```
+
+## ROS2 Topic Data Format
+
+### Raw Data Format (15 int32 values)
+
+| Index | Joint Name | Index | Joint Name | Index | Joint Name |
+|-------|------------|-------|------------|-------|------------|
+| 0 | Thumb abduction | 1 | Thumb flexion | 2 | Thumb tip |
+| 3 | Index abduction | 4 | Index flexion | 5 | Index tip |
+| 6 | Middle abduction | 7 | Middle flexion | 8 | Middle tip |
+| 9 | Ring abduction | 10 | Ring flexion | 11 | Ring tip |
+| 12 | Pinky abduction | 13 | Pinky flexion | 14 | Pinky tip |
+
+### Control Data Format
+
+#### L21 (25 joint output)
+
+For robot hand models: L21
+
+| Joint | Joint Name | Description |
+|-------|------------|-------------|
+| joint1 | Thumb flexion | |
+| joint2 | Index flexion | |
+| joint3 | Middle flexion | |
+| joint4 | Ring flexion | |
+| joint5 | Pinky flexion | |
+| joint6 | Thumb abduction | |
+| joint7 | Index abduction | |
+| joint8 | Middle abduction | |
+| joint9 | Ring abduction | |
+| joint10 | Pinky abduction | |
+| joint11 | Thumb roll | |
+| joint12 | Reserved | value 0 |
+| joint13 | Reserved | value 0 |
+| joint14 | Reserved | value 0 |
+| joint15 | Reserved | value 0 |
+| joint16 | Thumb middle | value 0 |
+| joint17 | Reserved | value 0 |
+| joint18 | Reserved | value 0 |
+| joint19 | Reserved | value 0 |
+| joint20 | Reserved | value 0 |
+| joint21 | Thumb tip | |
+| joint22 | Index tip | |
+| joint23 | Middle tip | |
+| joint24 | Ring tip | |
+| joint25 | Pinky tip | |
+
+#### L20/G20 (20 joint output)
+
+For robot hand models: L20, Industrial 20, G20
+
+| Joint | Joint Name | Description |
+|-------|------------|-------------|
+| joint1 | Thumb flexion | |
+| joint2 | Index flexion | |
+| joint3 | Middle flexion | |
+| joint4 | Ring flexion | |
+| joint5 | Pinky flexion | |
+| joint6 | Thumb abduction | |
+| joint7 | Index abduction | |
+| joint8 | Middle abduction | |
+| joint9 | Ring abduction | |
+| joint10 | Pinky abduction | |
+| joint11 | Thumb roll | |
+| joint12 | Reserved | value 0 |
+| joint13 | Reserved | value 0 |
+| joint14 | Reserved | value 0 |
+| joint15 | Reserved | value 0 |
+| joint16 | Thumb tip | |
+| joint17 | Index tip | |
+| joint18 | Middle tip | |
+| joint19 | Ring tip | |
+| joint20 | Pinky tip | |
+
+#### L10 (10 joints)
+
+For robot hand models: L10
+
+| Joint | Joint Name |
+|-------|------------|
+| joint1 | Thumb flexion |
+| joint2 | Thumb abduction |
+| joint3 | Index flexion |
+| joint4 | Middle flexion |
+| joint5 | Ring flexion |
+| joint6 | Pinky flexion |
+| joint7 | Index abduction |
+| joint8 | Ring abduction |
+| joint9 | Pinky abduction |
+| joint10 | Thumb roll |
+
+#### L6 (6 joints)
+
+For robot hand models: L6, O6
+
+| Joint | Joint Name |
+|-------|------------|
+| joint1 | Thumb flexion |
+| joint2 | Thumb abduction |
+| joint3 | Index flexion |
+| joint4 | Middle flexion |
+| joint5 | Ring flexion |
+| joint6 | Pinky flexion |
+
+#### O7 (7 joints)
+
+For robot hand models: O7
+
+| Joint | Joint Name |
+|-------|------------|
+| joint1 | Thumb flexion |
+| joint2 | Thumb abduction |
+| joint3 | Index flexion |
+| joint4 | Middle flexion |
+| joint5 | Ring flexion |
+| joint6 | Pinky flexion |
+| joint7 | Thumb roll |
+
+### Message Format
+
+```python
+# sensor_msgs/JointState
+msg.header.stamp  # Timestamp
+msg.name          # ['joint1', 'joint2', ..., 'jointN']
+msg.position      # [0-255, ...] Motor position values
+msg.velocity      # [255, ...] Velocity values
+```
+
+## File Structure
+
+```
+motion/linkereg/
+├── __init__.py       # Module export
+├── linkeregcore.py   # Serial communication core
+├── retarget.py       # ROS2 integration
+└── README.md        # English documentation
+```
+
+## Notes
+
+1. **Robot hand model**: No need to specify in config file, glove automatically identifies protocol type in data frame
+
+2. **Hardware connection**: Receiver must be connected to host (where the program runs)
+
+3. **Data rate**: Glove pushes data at 50Hz
+
+4. **Mode selection**:
+   - `linkereg2` (SDK control mode): Receiver doesn't need robot hand connection, glove data publishes to ROS topics, upper-layer robot hand SDK subscribes to control robot hand
+   - `linkereg1` (Receiver control mode): Receiver must be connected to real robot hand, receiver directly controls robot hand motion, current SDK is only for collecting glove data.
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/README_zh.md b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/README_zh.md
new file mode 100644
index 0000000..97ada4d
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/README_zh.md
@@ -0,0 +1,248 @@
+# LinkerEG 遥操作手套模块
+
+LinkerEG 遥操作手套的 ROS2 驱动模块，通过串口接收手套数据并发布到 ROS2 话题。
+
+## 更新日志
+
+### 2026-02-04
+- 修复了初始化流程中的死循环 bug
+- 增加了对 G20 手的支持
+
+## 特性
+
+- **发布频率**: 50Hz (所有话题统一频率)
+- 自动扫描串口连接手套
+- 支持左右手数据
+- 支持传感器原始数据推送 (可通过话题开关)
+
+## 控制模式
+
+| motion_type | 模式 | 说明 |接收器是否需要连接灵巧手 |
+|-------------|------|------|-------------------|
+| `linkereg2` | SDK控制模式 | 手套数据直接发布到ROS话题，由SDK控制灵巧手 | ❌ 不需要 |
+| `linkereg1` | 接收器控制模式 | 接收器直接控制灵巧手，同时发布数据到ROS话题 | ✅ 必须连接 |
+
+## 使用方法
+
+### 1. 配置文件
+
+修改 `config/base_config.yml`:
+
+```yaml
+system:
+  # SDK控制模式 (接收器不需要连接灵巧手)
+  motion_type: linkereg2
+  
+  #或 接收器控制模式 (接收器必须连接灵巧手)
+  motion_type: linkereg1
+```
+
+#### 串口权限密码
+
+如果需要自动修复串口权限，请在 `linkereg` 下配置 `password`（sudo 密码）。
+注意：YAML 里不加引号会被解析成数字，建议加引号以确保是字符串。
+
+```yaml
+linkereg:
+  port: null
+  password: "123456"  # sudo密码，用于修复串口权限，如果密码全是数字 需要加引号，比如 "123456"
+```
+
+### 2. 运行
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+### 3. 启用调试打印
+
+修改 `config/base_config.yml`:
+
+```yaml
+debug:
+  joint_pub_debug: true
+```
+
+## ROS2 话题
+
+> **发布频率**: 所有话题统一 50Hz
+
+### 发布话题
+
+| 话题名 | 消息类型 | 说明 | 默认状态 |
+|-------|---------|------|---------|
+| `/cb_right_hand_control_cmd` | `sensor_msgs/JointState` | 右手控制数据 | ✅ 启用 |
+| `/cb_left_hand_control_cmd` | `sensor_msgs/JointState` | 左手控制数据 | ✅ 启用 |
+| `/cb_right_hand_raw_data` | `sensor_msgs/JointState` | 右手传感器原始数据 | ❌ 禁用 |
+| `/cb_left_hand_raw_data` | `sensor_msgs/JointState` | 左手传感器原始数据 | ❌ 禁用 |
+
+### 订阅话题
+
+| 话题名 | 消息类型 | 说明 |
+|-------|---------|------|
+| `/cb_hand_setting_cmd` | `std_msgs/String` | 设置命令 (控制原始数据开关) |
+
+## 原始数据功能
+
+原始数据默认**禁用**，需要通过话题命令启用。
+
+### 启用/禁用原始数据
+
+```bash
+# 启用原始数据推送
+ros2 topic pub --once /cb_hand_setting_cmd std_msgs/String "data: 'on'"
+
+# 禁用原始数据推送  
+ros2 topic pub --once /cb_hand_setting_cmd std_msgs/String "data: 'off'"
+
+# 监听原始数据
+ros2 topic echo /cb_left_hand_raw_data
+```
+
+## ROS2 话题数据格式
+
+### 原始数据格式 (15个int32值)
+
+| 索引 | 关节名称 | 索引 | 关节名称 | 索引 | 关节名称 |
+|------|----------|------|----------|------|----------|
+| 0 | 大拇指横摆 | 1 | 大拇指弯曲 | 2 | 大拇指指尖 |
+| 3 | 食指横摆 | 4 | 食指弯曲 | 5 | 食指指尖 |
+| 6 | 中指横摆 | 7 | 中指弯曲 | 8 | 中指指尖 |
+| 9 | 无名指横摆 | 10 | 无名指弯曲 | 11 | 无名指指尖 |
+| 12 | 小指横摆 | 13 | 小指弯曲 | 14 | 小指指尖 |
+
+### 控制数据格式
+#### L21 (25关节输出)
+
+适用灵巧手型号：L21
+
+| Joint | 关节名称 | 说明 |
+|-------|----------|------|
+| joint1 | 大拇指弯曲 | |
+| joint2 | 食指弯曲 | |
+| joint3 | 中指弯曲 | |
+| joint4 | 无名指弯曲 | |
+| joint5 | 小拇指弯曲 | |
+| joint6 | 大拇指横摆 | |
+| joint7 | 食指横摆 | |
+| joint8 | 中指横摆 | |
+| joint9 | 无名指横摆 | |
+| joint10 | 小拇指横摆 | |
+| joint11 | 大拇指横滚 | |
+| joint12 | 预留 | 值为0 |
+| joint13 | 预留 | 值为0 |
+| joint14 | 预留 | 值为0 |
+| joint15 | 预留 | 值为0 |
+| joint16 | 大拇指中部 | 值为0 |
+| joint17 | 预留 | 值为0 |
+| joint18 | 预留 | 值为0 |
+| joint19 | 预留 | 值为0 |
+| joint20 | 预留 | 值为0 |
+| joint21 | 大拇指指尖 | |
+| joint22 | 食指指尖 | |
+| joint23 | 中指指尖 | |
+| joint24 | 无名指指尖 | |
+| joint25 | 小指指尖 | |
+
+#### L20/G20 (20关节输出)
+
+适用灵巧手型号：L20、工业版20、G20
+
+| Joint | 关节名称 | 说明 |
+|-------|----------|------|
+| joint1 | 拇指弯曲 | |
+| joint2 | 食指弯曲 | |
+| joint3 | 中指弯曲 | |
+| joint4 | 无名指弯曲 | |
+| joint5 | 小指弯曲 | |
+| joint6 | 拇指横摆 | |
+| joint7 | 食指横摆 | |
+| joint8 | 中指横摆 | |
+| joint9 | 无名指横摆 | |
+| joint10 | 小指横摆 | |
+| joint11 | 拇指横滚 | |
+| joint12 | 预留 | 值为0 |
+| joint13 | 预留 | 值为0 |
+| joint14 | 预留 | 值为0 |
+| joint15 | 预留 | 值为0 |
+| joint16 | 拇指指尖 | |
+| joint17 | 食指指尖 | |
+| joint18 | 中指指尖 | |
+| joint19 | 无名指指尖 | |
+| joint20 | 小指指尖 | |
+
+#### L10 (10关节)
+
+适用灵巧手型号：L10
+
+| Joint | 关节名称 |
+|-------|----------|
+| joint1 | 大拇指弯曲 |
+| joint2 | 大拇指横摆 |
+| joint3 | 食指弯曲 |
+| joint4 | 中指弯曲 |
+| joint5 | 无名指弯曲 |
+| joint6 | 小指弯曲 |
+| joint7 | 食指横摆 |
+| joint8 | 无名指横摆 |
+| joint9 | 小指横摆 |
+| joint10 | 大拇指横滚 |
+
+#### L6 (6关节)
+
+适用灵巧手型号：L6、O6
+
+| Joint | 关节名称 |
+|-------|----------|
+| joint1 | 大拇指弯曲 |
+| joint2 | 大拇指横摆 |
+| joint3 | 食指弯曲 |
+| joint4 | 中指弯曲 |
+| joint5 | 无名指弯曲 |
+| joint6 | 小指弯曲 |
+
+#### O7 (7关节)
+
+适用灵巧手型号：O7
+
+| Joint | 关节名称 |
+|-------|----------|
+| joint1 | 大拇指弯曲 |
+| joint2 | 大拇指横摆 |
+| joint3 | 食指弯曲 |
+| joint4 | 中指弯曲 |
+| joint5 | 无名指弯曲 |
+| joint6 | 小指弯曲 |
+| joint7 | 大拇指横滚 |
+
+### 消息格式
+
+```python
+# sensor_msgs/JointState
+msg.header.stamp  # 时间戳
+msg.name          # ['joint1', 'joint2', ..., 'jointN']
+msg.position      # [0-255, ...] 电机位置值
+msg.velocity      # [255, ...] 速度值
+```
+
+## 文件结构
+
+```
+motion/linkereg/
+├── __init__.py       # 模块导出
+├── linkeregcore.py   # 串口通讯核心
+├── retarget.py       # ROS2 集成
+└── README.md         # 本文档
+```
+
+## 注意事项
+
+1. **灵巧手型号**: 无需在配置文件中指定，手套会在数据帧中自动标识协议类型
+
+2. **硬件连接**：接收器必须连接到主机上（当前程序所在主机）
+
+3. **数据频率**: 手套以 50Hz 频率推送数据
+
+4. **模式选择**:
+   - `linkereg2` (SDK控制模式): 接收器不需要连接灵巧手，手套数据通过ROS话题发布，由上层灵巧手SDK订阅对应话题来控制灵巧手
+   - `linkereg1` (接收器控制模式): 接收器必须连接真实灵巧手，接收器直接控制灵巧手运动，当前SDK只是为了采集手套数据。
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/__init__.py
new file mode 100644
index 0000000..0f70c53
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/__init__.py
@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+LinkerEG 遥操作手套模块
+
+通过串口与 LinkerEG 手套通讯，接收映射数据并发布到 ROS2 话题
+"""
+
+from .linkeregcore import LinkerEGSerial, PROTOCOL_MAP
+from .retarget import Retarget
+
+__all__ = ['LinkerEGSerial', 'PROTOCOL_MAP', 'Retarget']
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/linkeregcore.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/linkeregcore.py
new file mode 100644
index 0000000..d2546fb
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/linkeregcore.py
@@ -0,0 +1,911 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+LinkerEG 遥操作手套串口通讯核心模块
+
+协议特点:
+- 波特率: 115200, 8-n-1
+- 帧格式: [0xAA] [CMD] [LEN] [DATA...] [CHECKSUM] [0x55]
+- 校验和: 补码累加和 checksum = ~(cmd + len + sum(data)) + 1
+- 左右手共用同一串口
+"""
+
+import array
+import struct
+import time
+import re
+import os
+import subprocess
+import serial
+import serial.tools.list_ports
+from enum import Enum
+from threading import Thread, Event
+from typing import Optional, Tuple, List, Callable
+
+# 帧常量
+FRAME_HEADER = 0xAA
+FRAME_TAIL = 0x55
+MAX_DATA_SIZE = 128
+BUFFER_SIZE = 512
+
+# 命令类型
+class CmdType:
+    READ_CONTROL_MODE = 0x0B # 读取控制方式
+    RECEIVER_CONTROL = 0x0D  # 接收器控制灵巧手
+    SDK_CONTROL = 0x0E       # SDK控制灵巧手
+    ENABLE_RAW_DATA = 0x0F   # 启用传感器原始数据推送
+    DISABLE_RAW_DATA = 0x10  # 禁用传感器原始数据推送
+    ENABLE_MAPPED_DATA = 0x11  # 启用映射数据推送
+    DISABLE_MAPPED_DATA = 0x12 # 禁用映射数据推送
+    READ_VERSION = 0x14      # 读取版本号
+    RAW_DATA_PUSH = 0x20     # 传感器原始数据推送 (50Hz)
+    MAPPED_DATA_PUSH = 0x21  # 映射数据推送 (50Hz)
+
+# 协议类型映射
+PROTOCOL_MAP = {
+    0: {'name': 'L20', 'joints': 16},
+    1: {'name': 'L10', 'joints': 10},
+    2: {'name': 'L21', 'joints': 16},
+    3: {'name': 'L6',  'joints': 6},
+    4: {'name': 'O7',  'joints': 7},
+    5: {'name': 'G20', 'joints': 16},
+}
+
+# 结果码
+class ResultCode:
+    SUCCESS = 0x00
+    FAILED = 0x01
+    UNKNOWN_CMD = 0xFD
+    FRAME_MODE_DISABLED = 0xFE
+    CHECKSUM_ERROR = 0xFF
+
+
+class FrameParseState(Enum):
+    """帧解析状态机"""
+    HEADER = 0
+    CMD = 1
+    LENGTH = 2
+    DATA = 3
+    CHECKSUM = 4
+    TAIL = 5
+
+
+class FrameParser:
+    """LinkerEG 帧解析器"""
+    
+    def __init__(self):
+        self.state = FrameParseState.HEADER
+        self.frame_buf = array.array('B', [0] * (4 + MAX_DATA_SIZE + 2))
+        self.expected_len = 0
+        self.current_pos = 0
+        self.cmd = 0
+        self.data_len = 0
+    
+    def reset(self):
+        """重置解析器状态"""
+        self.state = FrameParseState.HEADER
+        self.current_pos = 0
+        self.cmd = 0
+        self.data_len = 0
+    
+    @staticmethod
+    def calculate_checksum(cmd: int, data_len: int, data: bytes) -> int:
+        """
+        计算校验和 (补码累加和)
+        checksum = ~(cmd + len + sum(data)) + 1
+        """
+        total = cmd + data_len
+        for b in data:
+            total += b
+        checksum = (~total + 1) & 0xFF
+        return checksum
+    
+    def process_byte(self, byte: int) -> bool:
+        """
+        处理单个字节，返回是否接收到完整帧
+        """
+        byte = byte & 0xFF
+        
+        if self.state == FrameParseState.HEADER:
+            if byte == FRAME_HEADER:
+                self.frame_buf[0] = byte
+                self.current_pos = 1
+                self.state = FrameParseState.CMD
+        
+        elif self.state == FrameParseState.CMD:
+            self.cmd = byte
+            self.frame_buf[1] = byte
+            self.current_pos = 2
+            self.state = FrameParseState.LENGTH
+        
+        elif self.state == FrameParseState.LENGTH:
+            self.data_len = byte
+            self.frame_buf[2] = byte
+            self.current_pos = 3
+            if byte <= MAX_DATA_SIZE:
+                if byte == 0:
+                    self.state = FrameParseState.CHECKSUM
+                else:
+                    self.state = FrameParseState.DATA
+            else:
+                self.reset()
+        
+        elif self.state == FrameParseState.DATA:
+            self.frame_buf[self.current_pos] = byte
+            self.current_pos += 1
+            if self.current_pos >= 3 + self.data_len:
+                self.state = FrameParseState.CHECKSUM
+        
+        elif self.state == FrameParseState.CHECKSUM:
+            self.frame_buf[self.current_pos] = byte
+            # 验证校验和
+            data = bytes(self.frame_buf[3:3 + self.data_len])
+            expected_checksum = self.calculate_checksum(self.cmd, self.data_len, data)
+            if byte == expected_checksum:
+                self.current_pos += 1
+                self.state = FrameParseState.TAIL
+            else:
+                self.reset()
+        
+        elif self.state == FrameParseState.TAIL:
+            if byte == FRAME_TAIL:
+                self.frame_buf[self.current_pos] = byte
+                return True
+            else:
+                self.reset()
+        
+        return False
+    
+    def get_frame_data(self) -> Tuple[int, bytes]:
+        """获取解析后的帧数据 (cmd, data)"""
+        data = bytes(self.frame_buf[3:3 + self.data_len])
+        return self.cmd, data
+
+
+class LinkerEGSerial:
+    """LinkerEG 串口通讯类"""
+    
+    # 控制模式
+    MODE_SDK = 'sdk'           # SDK控制模式 (linkereg)
+    MODE_RECEIVER = 'receiver' # 接收器控制模式 (linkereg1)
+    
+    def __init__(self, port: str = None, baudrate: int = 115200, password: str = '12345678', isdebug: bool = False, mode: str = 'sdk'):
+        """
+        初始化 LinkerEG 串口通讯
+        
+        Args:
+            port: 串口路径，如果为 None 则自动扫描
+            baudrate: 波特率 (默认 115200)
+            password: sudo 密码，用于修复串口权限
+            isdebug: 是否打印调试信息
+            mode: 控制模式 'sdk'=SDK控制模式, 'receiver'=接收器控制模式
+        """
+        self.port = port
+        self.baudrate = baudrate
+        self.mode = mode
+
+
+        print(f"[LinkerEG] 初始化 LinkerEGSerial (mode={self.mode})...", flush=True)
+        self.serial_port: Optional[serial.Serial] = None
+        self.parser = FrameParser()
+        self.running = Event()
+        self.thread: Optional[Thread] = None
+        
+        # 版本信息
+        self.version: Optional[str] = None
+        self.connected = False
+        self.initialized = False
+        
+        # 数据存储 (左右手) - 控制数据
+        self.right_hand_data: List[int] = []
+        self.left_hand_data: List[int] = []
+        self.right_hand_protocol: int = -1
+        self.left_hand_protocol: int = -1
+        
+        # 回调函数 (control_data, protocol)
+        self.on_right_hand_data: Optional[Callable[[List[int], int], None]] = None
+        self.on_left_hand_data: Optional[Callable[[List[int], int], None]] = None
+        
+        # 传感器原始数据存储 (左右手) - 15个int32关节值
+        self.right_hand_raw_data: List[int] = []
+        self.left_hand_raw_data: List[int] = []
+        
+        # 原始数据回调函数 (raw_data: List[int])
+        # raw_data 为15个int32值: 大拇指横摆、大拇指弯曲、大拇指指尖、食指横摆、食指弯曲、食指指尖...
+        self.on_right_hand_raw_data: Optional[Callable[[List[int]], None]] = None
+        self.on_left_hand_raw_data: Optional[Callable[[List[int]], None]] = None
+        
+        # 原始数据推送状态
+        self.raw_data_enabled = False
+        
+        # sudo密码 (用于权限修复，从外部传入)
+        self._sudo_password: str = password
+        self.isdebug = isdebug
+        
+        # 串口扫描相关
+        self.checked_ports: set = set()
+        self.exclude_ports: set = set()
+
+
+        # 灵巧手控制状态
+        self.hand_control_mode: Optional[str] = None  # 'sdk' 或 'receiver'
+    
+    def _is_usb_device(self, port_name: str) -> bool:
+        """
+        判断是否为USB串口设备
+        支持: /dev/ttyUSB*, /dev/ttyACM* 等USB转串口设备
+        """
+        import re
+        usb_patterns = [
+            r'/dev/ttyUSB\d+',
+            r'/dev/ttyACM\d+',
+            r'/dev/ttyXRUSB\d+',
+            r'/dev/ttyOBC\d+',
+        ]
+        
+        for pattern in usb_patterns:
+            if re.match(pattern, port_name):
+                return True
+        
+        try:
+            ports = serial.tools.list_ports.comports()
+            for port_info in ports:
+                if port_info.device == port_name:
+                    description = (port_info.description or "").lower()
+                    if any(keyword in description for keyword in ['usb', 'serial', 'com']):
+                        return True
+                    if port_info.hwid and 'USB' in port_info.hwid.upper():
+                        return True
+        except:
+            pass
+        
+        return False
+    
+    def scan_serial_ports(self) -> List[str]:
+        """扫描所有可用的USB串口"""
+        ports = serial.tools.list_ports.comports()
+        available_ports = []
+        
+        for port in ports:
+            port_device = port.device
+            if not self._is_usb_device(port_device):
+                continue
+            if port_device in self.exclude_ports:
+                if self.isdebug:
+                    print(f"[LinkerEG] 跳过排除的串口: {port_device}", flush=True)
+                continue
+            if port_device not in self.checked_ports:
+                available_ports.append(port_device)
+        
+        return available_ports
+    
+    def _quick_test_port(self, port_name: str, timeout: float = 3.0) -> Tuple[bool, Optional[int]]:
+        """
+        快速测试串口是否为 LinkerEG 设备
+        返回: (success, error_code)
+        error_code: None=成功, -1=不存在, -2=权限问题, -3=设备忙, -99=其他错误
+        """
+        try:
+            with serial.Serial(
+                port_name,
+                baudrate=self.baudrate,
+                timeout=0.2,
+                bytesize=serial.EIGHTBITS,
+                parity=serial.PARITY_NONE,
+                stopbits=serial.STOPBITS_ONE
+            ) as ser:
+                # 清空缓冲区
+                ser.reset_input_buffer()
+                ser.reset_output_buffer()
+                time.sleep(0.2)
+                
+                # 发送 frame_enable (尝试三次，间隔更长)
+                for _ in range(3):
+                    ser.write(b'frame_enable\n')
+                    time.sleep(0.2)
+                
+                # 清空可能的回复
+                if ser.in_waiting > 0:
+                    ser.read(ser.in_waiting)
+                
+                # 发送 SDK 控制命令 (0x0E) - 这个命令响应更可靠
+                cmd = CmdType.SDK_CONTROL
+                data = b''
+                checksum = FrameParser.calculate_checksum(cmd, 0, data)
+                frame = bytes([FRAME_HEADER, cmd, 0, checksum, FRAME_TAIL])
+                if self.isdebug:
+                    print(f"[LinkerEG] 发送SDK控制命令: {frame.hex()}", flush=True)
+                ser.write(frame)
+                time.sleep(0.1)
+                
+                # 再发送读取版本命令
+                cmd = CmdType.READ_VERSION
+                checksum = FrameParser.calculate_checksum(cmd, 0, data)
+                frame = bytes([FRAME_HEADER, cmd, 0, checksum, FRAME_TAIL])
+                if self.isdebug:
+                    print(f"[LinkerEG] 发送版本查询: {frame.hex()}", flush=True)
+                ser.write(frame)
+                
+                # 等待响应
+                start_time = time.time()
+                parser = FrameParser()
+                
+                while (time.time() - start_time) < timeout:
+                    if ser.in_waiting > 0:
+                        chunk = ser.read(ser.in_waiting)
+                        if self.isdebug:
+                            print(f"[LinkerEG] 收到数据: {chunk.hex()}", flush=True)
+                        for byte in chunk:
+                            if parser.process_byte(byte):
+                                cmd_resp, data_resp = parser.get_frame_data()
+                                if self.isdebug:
+                                    print(f"[LinkerEG] 解析到帧: cmd=0x{cmd_resp:02X}, data={data_resp.hex()}", flush=True)
+                                # 收到任何有效响应都说明是 LinkerEG 设备
+                                if cmd_resp in (CmdType.READ_VERSION, CmdType.SDK_CONTROL, CmdType.RECEIVER_CONTROL, 
+                                                CmdType.MAPPED_DATA_PUSH, CmdType.RAW_DATA_PUSH, 
+                                                CmdType.ENABLE_MAPPED_DATA, CmdType.DISABLE_MAPPED_DATA):
+                                    if self.isdebug:
+                                        print(f"[LinkerEG] 串口 {port_name} 检测到 LinkerEG 设备 (cmd=0x{cmd_resp:02X})", flush=True)
+                                    return True, None
+                                parser.reset()
+                    time.sleep(0.01)
+                
+                if self.isdebug:
+                    print(f"[LinkerEG] 串口 {port_name} 无响应", flush=True)
+                return False, None
+                
+        except serial.SerialException as e:
+            error_msg = str(e)
+            if "No such file or directory" in error_msg or "[Errno 2]" in error_msg:
+                return False, -1
+            elif "Permission denied" in error_msg or "[Errno 13]" in error_msg:
+                return False, -2
+            elif "Device or resource busy" in error_msg:
+                return False, -3
+            else:
+                if self.isdebug:
+                    print(f"[LinkerEG] 串口测试失败: {e}", flush=True)
+                return False, -99
+        except Exception as e:
+            if self.isdebug:
+                print(f"[LinkerEG] 串口测试异常: {e}", flush=True)
+            return False, -99
+    
+    def find_valid_port(self) -> Tuple[Optional[str], Optional[int]]:
+        """
+        自动扫描并查找有效的 LinkerEG 串口
+        返回: (port_name, error_code)
+        """
+        print("[LinkerEG] 开始扫描串口...", flush=True)
+        
+        available_ports = self.scan_serial_ports()
+        if not available_ports:
+            print("[LinkerEG] 未发现可用的 USB 串口设备", flush=True)
+            return None, -1
+        
+        print(f"[LinkerEG] 发现 {len(available_ports)} 个串口: {available_ports}", flush=True)
+        
+        for port in available_ports:
+            print(f"[LinkerEG] 正在检测 {port}...", flush=True)
+            success, error_code = self._quick_test_port(port)
+            
+            if error_code == -2:  # 权限问题
+                print(f"[LinkerEG] 检测到权限问题，尝试修复 {port}...", flush=True)
+                if self._fix_serial_permission(port):
+                    # 修复后重试
+                    success, error_code = self._quick_test_port(port)
+            
+            self.checked_ports.add(port)
+            
+            if success:
+                print(f"[LinkerEG] ✓ 找到有效串口: {port}", flush=True)
+                return port, None
+        
+        print("[LinkerEG] 未找到 LinkerEG 设备", flush=True)
+        return None, -1
+    
+    
+    def _fix_serial_permission(self, port_name: str) -> bool:
+        """尝试修复串口权限（使用预设密码）"""
+        try:
+            if not os.path.exists(port_name):
+                print(f"[LinkerEG] 串口设备不存在: {port_name}", flush=True)
+                return False
+            
+            password = self._sudo_password
+            if not password:
+                print("[LinkerEG] 未设置 sudo 密码，无法修复权限", flush=True)
+                return False
+            
+            # 使用echo传递密码执行chmod
+            command = f'echo "{password}" | sudo -S chmod 666 {port_name}'
+            result = subprocess.run(
+                command,
+                shell=True,
+                capture_output=True,
+                text=True,
+                timeout=10
+            )
+            
+            if result.returncode == 0:
+                print(f"[LinkerEG] ✓ 成功修复 {port_name} 权限", flush=True)
+                return True
+            else:
+                print(f"[LinkerEG] ✗ 权限修复失败: {result.stderr.strip()}", flush=True)
+                return False
+                
+        except subprocess.TimeoutExpired:
+            print(f"[LinkerEG] 修复权限超时", flush=True)
+        except Exception as e:
+            print(f"[LinkerEG] 修复权限时出错: {e}", flush=True)
+        
+        return False
+    
+    def open(self, auto_scan: bool = True) -> bool:
+        """
+        打开串口（带权限检测和自动修复）
+        
+        Args:
+            auto_scan: 如果 port 为 None，是否自动扫描
+        """
+        # 如果没有指定串口，自动扫描
+        if self.port is None and auto_scan:
+            port, error_code = self.find_valid_port()
+            if port is None:
+                print("[LinkerEG] 自动扫描未找到有效串口", flush=True)
+                return False
+            self.port = port
+        
+        if self.port is None:
+            print("[LinkerEG] 未指定串口", flush=True)
+            return False
+        
+        max_retry = 2  # 最多尝试2次 (第一次失败后尝试修复权限再试一次)
+        
+        for attempt in range(max_retry):
+            try:
+                self.serial_port = serial.Serial(
+                    port=self.port,
+                    baudrate=self.baudrate,
+                    timeout=0.01,
+                    bytesize=serial.EIGHTBITS,
+                    parity=serial.PARITY_NONE,
+                    stopbits=serial.STOPBITS_ONE
+                )
+                self.connected = True
+                print(f"[LinkerEG] 串口 {self.port} 打开成功 (波特率: {self.baudrate})", flush=True)
+                return True
+                
+            except serial.SerialException as e:
+                error_msg = str(e)
+                
+                if "No such file or directory" in error_msg or "[Errno 2]" in error_msg:
+                    print(f"[LinkerEG] 串口设备不存在: {self.port}", flush=True)
+                    print("[LinkerEG] 请检查串口名称或设备是否连接", flush=True)
+                    return False
+                    
+                elif "Permission denied" in error_msg or "[Errno 13]" in error_msg:
+                    print(f"[LinkerEG] 权限被拒绝: {self.port}", flush=True)
+                    
+                    if attempt == 0:  # 第一次失败，尝试修复权限
+                        print("[LinkerEG] 检测到权限问题，尝试修复权限...", flush=True)
+                        if self._fix_serial_permission(self.port):
+                            print("[LinkerEG] 权限修复成功，重新尝试打开串口...", flush=True)
+                            continue  # 重试
+                        else:
+                            print("[LinkerEG] 权限修复失败", flush=True)
+                            return False
+                    else:
+                        print("[LinkerEG] 权限修复后仍无法打开串口", flush=True)
+                        return False
+                        
+                elif "Device or resource busy" in error_msg:
+                    print(f"[LinkerEG] 设备忙: {self.port} - 串口可能已被其他程序占用", flush=True)
+                    return False
+                    
+                else:
+                    print(f"[LinkerEG] 串口打开失败: {e}", flush=True)
+                    return False
+        
+        return False
+    
+    def close(self):
+        """关闭串口"""
+        self.stop()
+        if self.serial_port and self.serial_port.is_open:
+            self.serial_port.close()
+        self.connected = False
+        print("[LinkerEG] 串口已关闭", flush=True)
+    
+    def _build_frame(self, cmd: int, data: bytes = b'') -> bytes:
+        """构建发送帧"""
+        data_len = len(data)
+        checksum = FrameParser.calculate_checksum(cmd, data_len, data)
+        frame = bytes([FRAME_HEADER, cmd, data_len]) + data + bytes([checksum, FRAME_TAIL])
+        return frame
+    
+    def _send_frame(self, cmd: int, data: bytes = b'') -> bool:
+        """发送帧"""
+        if not self.serial_port or not self.serial_port.is_open:
+            return False
+        frame = self._build_frame(cmd, data)
+        try:
+            self.serial_port.write(frame)
+            return True
+        except Exception as e:
+            print(f"[LinkerEG] 发送失败: {e}", flush=True)
+            return False
+    
+    def enable_frame_mode(self) -> bool:
+        """启用数据帧模式 (发送 'frame_enable\n' 多次)"""
+        if not self.serial_port or not self.serial_port.is_open:
+            return False
+        try:
+            # 清空缓冲区
+            self.serial_port.reset_input_buffer()
+            self.serial_port.reset_output_buffer()
+            
+            # 发送 ASCII 字符串 "frame_enable\n" 多次确保可靠
+            for _ in range(3):
+                self.serial_port.write(b'frame_enable\n')
+                time.sleep(0.1)
+            print("[LinkerEG] 已发送 frame_enable 命令", flush=True)
+            return True
+        except Exception as e:
+            print(f"[LinkerEG] 发送 frame_enable 失败: {e}", flush=True)
+            return False
+    
+    def sdk_control(self) -> bool:
+        """SDK控制灵巧手 (0x0E) - linkereg2模式"""
+        return self._send_frame(CmdType.SDK_CONTROL)
+    
+    def receiver_control(self) -> bool:
+        """接收器控制灵巧手 (0x0D) - linkereg1模式"""
+        return self._send_frame(CmdType.RECEIVER_CONTROL)
+    
+    def enable_mapped_data(self) -> bool:
+        """启用映射数据推送 (0x11)"""
+        return self._send_frame(CmdType.ENABLE_MAPPED_DATA)
+    
+    def disable_mapped_data(self) -> bool:
+        """禁用映射数据推送 (0x12)"""
+        return self._send_frame(CmdType.DISABLE_MAPPED_DATA)
+    
+    def enable_raw_data(self) -> bool:
+        """
+        启用传感器原始数据推送 (0x0F)
+        发送: AA 0F 00 F1 55
+        响应: AA 0F 01 00 [校验和] 55
+        启用后系统以50Hz频率推送原始传感器数据 (命令类型0x20)
+        """
+        return self._send_frame(CmdType.ENABLE_RAW_DATA)
+    
+    def disable_raw_data(self) -> bool:
+        """
+        禁用传感器原始数据推送 (0x10)
+        发送: AA 10 00 F0 55
+        响应: AA 10 01 00 [校验和] 55
+        """
+        return self._send_frame(CmdType.DISABLE_RAW_DATA)
+    
+    def read_control_mode(self) -> bool:
+        """
+        读取控制方式 (0x0B)
+        发送: AA 0B 00 F5 55
+        响应: AA 0B 02 00 [0x00:SDK控制, 0x01:接收器控制] [校验和] 55
+        """
+        return self._send_frame(CmdType.READ_CONTROL_MODE)
+    
+    def read_version(self) -> bool:
+        """读取版本号 (0x14)"""
+        return self._send_frame(CmdType.READ_VERSION)
+    
+    def initialize(self) -> bool:
+        """
+        完整初始化流程:
+        - SDK控制模式: 发送 0x0E 命令
+        - 接收器控制模式: 发送 0x0D 命令 (需要连接灵巧手)
+        """
+        mode_name = "SDK控制模式" if self.mode == self.MODE_SDK else "接收器控制模式"
+        print(f"[LinkerEG] 开始初始化 ({mode_name})...", flush=True)
+        
+        # 1. 启用数据帧模式
+        if not self.enable_frame_mode():
+            print("[LinkerEG] 启用数据帧模式失败", flush=True)
+            return False
+        time.sleep(0.2)
+        
+        # 2. 根据模式发送控制命令 (多次发送确保生效)
+        while 1:
+            if self.mode == self.MODE_RECEIVER and self.hand_control_mode != self.MODE_RECEIVER:
+                self.receiver_control()
+            elif self.mode == self.MODE_SDK and self.hand_control_mode != self.MODE_SDK:
+                self.sdk_control()
+            else:
+                print(f"[LinkerEG] 当前控制方式: {self.hand_control_mode} (与期望一致)", flush=True)
+                break
+            time.sleep(0.2)
+            self.read_control_mode()
+
+        
+
+
+        # 3. 读取版本号
+        if not self.read_version():
+            print("[LinkerEG] 读取版本号失败", flush=True)
+            return False
+        time.sleep(0.3)
+        
+        # 4. 读取当前控制方式
+        if not self.read_control_mode():
+            print("[LinkerEG] 读取控制方式失败", flush=True)
+            return False
+        time.sleep(0.3)
+
+        # 5. 启用映射数据推送
+        if not self.enable_mapped_data():
+            print("[LinkerEG] 启用映射数据推送失败", flush=True)
+            return False
+        
+        self.initialized = True
+        
+        print(f"[LinkerEG] 初始化完成 ({self.hand_control_mode})", flush=True)
+        return True
+    
+    def start(self):
+        """启动接收线程"""
+        if self.thread is not None and self.thread.is_alive():
+            return
+        self.running.set()
+        self.thread = Thread(target=self._receive_loop, daemon=True)
+        self.thread.start()
+        print("[LinkerEG] 接收线程已启动", flush=True)
+    
+    def stop(self):
+        """停止接收线程"""
+        self.running.clear()
+        if self.thread is not None:
+            self.thread.join(timeout=1.0)
+            self.thread = None
+        print("[LinkerEG] 接收线程已停止", flush=True)
+    
+    def _reorder_joints(self, control_data: List[int], protocol: int) -> List[int]:
+        """
+        重排关节顺序，使输出与 haocun/linkerforce 保持一致
+        
+        Args:
+            control_data: 原始控制数据
+            protocol: 协议类型
+        
+        Returns:
+            重排后的控制数据
+        """
+        if protocol == 2:  # L21 (16关节 -> 25关节输出)
+            # 原序 (16关节): [大拇指横摆, 食指横摆, 中指横摆, 无名指横摆, 小指横摆,
+            #                大拇指弯曲, 食指弯曲, 中指弯曲, 无名指弯曲, 小指弯曲,
+            #                大拇指横滚, 大拇指中部, 大拇指指尖, 食指指尖, 中指指尖, 无名指指尖, 小指指尖]
+
+            if len(control_data) >= 16:
+                return [
+                    control_data[5],   # 大拇指弯曲
+                    control_data[6],   # 食指弯曲
+                    control_data[7],   # 中指弯曲
+                    control_data[8],   # 无名指弯曲
+                    control_data[9],   # 小拇指弯曲
+                    control_data[0],   # 大拇指横摆
+                    control_data[1],   # 食指横摆
+                    control_data[2],   # 中指横摆
+                    control_data[3],   # 无名指横摆
+                    control_data[4],   # 小拇指横摆
+                    control_data[15],  # 大拇指横滚
+                    0,                 # 预留
+                    0,                 # 预留
+                    0,                 # 预留
+                    0,                 # 预留
+                    0,  # 大拇指中部
+                    0,                 # 预留
+                    0,                 # 预留
+                    0,                 # 预留
+                    0,                 # 预留
+                    control_data[10],  # 大拇指指尖
+                    control_data[11],  # 食指指尖
+                    control_data[12],  # 中指指尖
+                    control_data[13],  # 无名指指尖
+                    control_data[14],  # 小指指尖
+
+                ]
+        
+        elif protocol == 3:  # L6/O6 (6关节)
+            # 原序: [大拇指横摆, 大拇指弯曲, 食指, 中指, 无名指, 小指]
+            # 新序: [大拇指弯曲, 大拇指横摆, 食指, 中指, 无名指, 小指]
+            if len(control_data) >= 6:
+                return [
+                    control_data[1],  # 大拇指弯曲
+                    control_data[0],  # 大拇指横摆
+                    control_data[2],  # 食指弯曲
+                    control_data[3],  # 中指弯曲
+                    control_data[4],  # 无名指弯曲
+                    control_data[5],  # 小指弯曲
+                ]
+        
+        elif protocol == 4:  # O7 (7关节)
+            # 原序: [大拇指横摆, 大拇指弯曲, 食指, 中指, 无名指, 小指, 大拇指旋转]
+            # 新序: [大拇指弯曲, 大拇指横摆, 食指, 中指, 无名指, 小指, 大拇指旋转]
+            if len(control_data) >= 7:
+                return [
+                    control_data[1],  # 大拇指弯曲
+                    control_data[0],  # 大拇指横摆
+                    control_data[2],  # 食指弯曲
+                    control_data[3],  # 中指弯曲
+                    control_data[4],  # 无名指弯曲
+                    control_data[5],  # 小指弯曲
+                    control_data[6],  # 大拇指旋转
+                ]
+        
+        elif protocol == 1:  # L10 (10关节)
+            # 新序: [大拇指弯曲, 大拇指横摆, 食指弯曲, 中指弯曲, 无名指弯曲, 小指弯曲, 食指横摆, 无名指横摆, 小指横摆, 大拇指旋转]
+            # 新序: [大拇指弯曲, 大拇指横摆, 食指弯曲, 中指弯曲, 无名指弯曲, 小指弯曲, 食指横摆, 无名指横摆, 小指横摆, 大拇指旋转]
+            if len(control_data) >= 10:
+                return [
+                    control_data[4],  # 大拇指弯曲
+                    control_data[0],  # 大拇指横摆
+                    control_data[5],  # 食指弯曲
+                    control_data[6],  # 中指弯曲
+                    control_data[7],  # 无名指弯曲
+                    control_data[8],  # 小指弯曲
+                    control_data[1],  # 食指横摆
+                    control_data[2],  # 无名指横摆
+                    control_data[3],  # 小指横摆
+                    control_data[9],  # 大拇指旋转
+                ]
+        
+        elif protocol == 0 or protocol == 5:  # L20 G20(16关节 -> 20关节输出)
+            # 原序 (16关节): [大拇指横摆, 食指横摆, 中指横摆, 无名指横摆, 小指横摆,
+            #                大拇指弯曲, 食指弯曲, 中指弯曲, 无名指弯曲, 小指弯曲,
+            #                大拇指指尖, 食指指尖, 中指指尖, 无名指指尖, 小指指尖, 大拇指横滚]
+            # 新序 (20关节): [拇指弯曲, 食指弯曲, 中指弯曲, 无名指弯曲, 小指弯曲,
+            #                拇指横摆, 食指横摆, 中指横摆, 无名指横摆, 小指横摆,
+            #                拇指横滚, 预留, 预留, 预留, 预留,
+            #                拇指指尖, 食指指尖, 中指指尖, 无名指指尖, 小指指尖]
+            if len(control_data) >= 16:
+                return [
+                    control_data[5],   # 拇指弯曲
+                    control_data[6],   # 食指弯曲
+                    control_data[7],   # 中指弯曲
+                    control_data[8],   # 无名指弯曲
+                    control_data[9],   # 小指弯曲
+                    control_data[0],   # 拇指横摆
+                    control_data[1],   # 食指横摆
+                    control_data[2],   # 中指横摆
+                    control_data[3],   # 无名指横摆
+                    control_data[4],   # 小指横摆
+                    control_data[15],  # 拇指横滚
+                    0,                 # 预留
+                    0,                 # 预留
+                    0,                 # 预留
+                    0,                 # 预留
+                    control_data[10],  # 拇指指尖
+                    control_data[11],  # 食指指尖
+                    control_data[12],  # 中指指尖
+                    control_data[13],  # 无名指指尖
+                    control_data[14],  # 小指指尖
+                ]
+        
+        # 其他协议直接透传
+        return control_data
+    
+    def _receive_loop(self):
+        """接收数据循环"""
+        while self.running.is_set():
+            try:
+                if self.serial_port and self.serial_port.in_waiting > 0:
+                    data = self.serial_port.read(self.serial_port.in_waiting)
+                    for byte in data:
+                        if self.parser.process_byte(byte):
+                            self._handle_frame()
+                            self.parser.reset()
+                time.sleep(0.001)
+            except Exception as e:
+                print(f"[LinkerEG] 接收错误: {e}", flush=True)
+                time.sleep(0.01)
+    
+    def _handle_frame(self):
+        """处理接收到的完整帧"""
+        cmd, data = self.parser.get_frame_data()
+        
+        if cmd == CmdType.READ_CONTROL_MODE:
+            # 响应格式: AA 0B 02 00 [0x00:SDK控制, 0x01:接收器控制] [校验和] 55
+            if len(data) >= 2 and data[0] == ResultCode.SUCCESS:
+                control_mode = data[1]
+                self.hand_control_mode = "sdk" if control_mode == 0x00 else "receiver"  
+        elif cmd == CmdType.READ_VERSION:
+            # 响应格式: [结果码] [版本数据...]
+            if len(data) >= 5 and data[0] == ResultCode.SUCCESS:
+                # 版本号格式: 4字节小端序
+                version_bytes = data[1:5]
+                major = version_bytes[0]
+                minor = version_bytes[1]
+                patch = (version_bytes[2] << 8) | version_bytes[3]
+                self.version = f"{major}.{minor}.{patch}"
+                print(f"[LinkerEG] 版本号: {self.version}", flush=True)
+        
+        elif cmd == CmdType.MAPPED_DATA_PUSH:
+            # 映射数据帧 (linkereg2 SDK控制模式): [手侧] [协议] [状态] [N字节控制数据]
+            # SDK模式下只有控制数据
+            if len(data) >= 3:
+                hand_side = data[0]  # 0=右手, 1=左手
+                protocol = data[1]   # 协议类型
+                # data[2] 是状态字节，忽略
+                
+                if protocol in PROTOCOL_MAP:
+                    num_joints = PROTOCOL_MAP[protocol]['joints']
+                    # SDK模式: 只有控制数据，从第3字节开始
+                    if len(data) >= 3 + num_joints:
+                        control_data = list(data[3:3 + num_joints])
+                        
+                        # 重排关节顺序，与 haocun/linkerforce 保持一致
+                        control_data = self._reorder_joints(control_data, protocol)
+                        
+                        if hand_side == 0:  # 右手
+                            self.right_hand_data = control_data
+                            self.right_hand_protocol = protocol
+                            if self.on_right_hand_data:
+                                self.on_right_hand_data(control_data, protocol)
+                        else:  # 左手
+                            self.left_hand_data = control_data
+                            self.left_hand_protocol = protocol
+                            if self.on_left_hand_data:
+                                self.on_left_hand_data(control_data, protocol)
+        
+        elif cmd == CmdType.SDK_CONTROL:
+            if len(data) >= 1 and data[0] == ResultCode.SUCCESS:
+                print("[LinkerEG] SDK控制模式已启用", flush=True)
+        
+        elif cmd == CmdType.RECEIVER_CONTROL:
+            if len(data) >= 1 and data[0] == ResultCode.SUCCESS:
+                print("[LinkerEG] 接收器控制模式已启用", flush=True)
+        
+        elif cmd == CmdType.ENABLE_MAPPED_DATA:
+            if len(data) >= 1 and data[0] == ResultCode.SUCCESS:
+                print("[LinkerEG] 映射数据推送已启用", flush=True)
+        
+        elif cmd == CmdType.DISABLE_MAPPED_DATA:
+            if len(data) >= 1 and data[0] == ResultCode.SUCCESS:
+                print("[LinkerEG] 映射数据推送已禁用", flush=True)
+        
+        elif cmd == CmdType.ENABLE_RAW_DATA:
+            if len(data) >= 1 and data[0] == ResultCode.SUCCESS:
+                self.raw_data_enabled = True
+                print("[LinkerEG] 传感器原始数据推送已启用", flush=True)
+        
+        elif cmd == CmdType.DISABLE_RAW_DATA:
+            if len(data) >= 1 and data[0] == ResultCode.SUCCESS:
+                self.raw_data_enabled = False
+                print("[LinkerEG] 传感器原始数据推送已禁用", flush=True)
+        
+        elif cmd == CmdType.RAW_DATA_PUSH:
+            # 传感器原始数据帧 (0x20): AA 20 3D [1字节手侧] [60字节传感器数据] [校验和] 55
+            # 数据长度: 0x3D = 61字节 (1字节手侧 + 60字节传感器数据)
+            # 传感器数据: 15个int32_t值 (每个4字节，小端序)
+            # 顺序: 大拇指横摆、大拇指弯曲、大拇指指尖、食指横摆、食指弯曲、食指指尖、
+            #       中指横摆、中指弯曲、中指指尖、无名指横摆、无名指弯曲、无名指指尖、
+            #       小指横摆、小指弯曲、小指指尖
+            if len(data) >= 61:  # 1字节手侧 + 60字节传感器数据
+                hand_side = data[0]  # 0=右手, 1=左手
+                sensor_bytes = data[1:61]  # 60字节传感器数据
+                
+                # 解析15个int32_t值 (小端序)
+                raw_values = []
+                for i in range(15):
+                    offset = i * 4
+                    value = struct.unpack('<i', bytes(sensor_bytes[offset:offset+4]))[0]
+                    raw_values.append(value)
+                
+                if hand_side == 0:  # 右手
+                    self.right_hand_raw_data = raw_values
+                    if self.on_right_hand_raw_data:
+                        self.on_right_hand_raw_data(raw_values)
+                else:  # 左手
+                    self.left_hand_raw_data = raw_values
+                    if self.on_left_hand_raw_data:
+                        self.on_left_hand_raw_data(raw_values)
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/retarget.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/retarget.py
new file mode 100644
index 0000000..c5369d6
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkereg/retarget.py
@@ -0,0 +1,316 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+LinkerEG 遥操作手套 Retarget 模块
+
+功能:
+- 通过串口连接 LinkerEG 手套
+- 自动初始化 (frame_enable -> 读版本 -> 启用映射数据)
+- 接收左右手数据并通过 ROS2 话题发布
+- 支持传感器原始数据推送
+- 支持通过话题动态启用/禁用原始数据
+- 完全不依赖 HandCore
+
+话题列表:
+  控制数据 (驱动机械手):
+    /cb_right_hand_control_cmd  (sensor_msgs/JointState)
+    /cb_left_hand_control_cmd   (sensor_msgs/JointState)
+  
+  传感器原始数据:
+    /cb_right_hand_raw_data     (sensor_msgs/JointState) - 15个int32关节值
+    /cb_left_hand_raw_data      (sensor_msgs/JointState) - 15个int32关节值
+  
+  控制命令:
+    /cb_hand_setting_cmd        (std_msgs/String) - 发送 "on" 或 "off"
+"""
+
+import time
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from std_msgs.msg import String
+
+from .linkeregcore import LinkerEGSerial, PROTOCOL_MAP
+
+
+class Retarget:
+    """LinkerEG Retarget 类"""
+    
+    def __init__(self, 
+                 node: Node,
+                 port: str = None,
+                 baudrate: int = 115200,
+                 password: str = 'i',
+                 isdebug: bool = False,
+                 mode: str = 'sdk'):
+        """
+        初始化 LinkerEG Retarget
+        
+        Args:
+            node: ROS2 节点
+            port: 串口路径，为 None 时自动扫描 (左右手共用同一个串口)
+            baudrate: 波特率 (默认 115200)
+            password: sudo 密码，用于自动修复串口权限
+            isdebug: 是否打印调试信息
+            mode: 控制模式 'sdk'=SDK控制模式, 'receiver'=接收器控制模式
+        """
+        self.node = node
+        self.port = port
+        self.baudrate = baudrate
+        self.password = password
+        self.isdebug = isdebug
+        self.mode = mode
+        self.raw_data_enabled = False  # 原始数据推送状态 (通过话题控制)
+        self.running = True
+        self.pubprintcount = 0
+        self.raw_count = 0
+        
+        # 创建 LinkerEG 串口通讯对象
+        self.linkereg = LinkerEGSerial(
+            port=port, 
+            baudrate=baudrate, 
+            password=password,
+            isdebug=isdebug,
+            mode=mode
+        )
+        
+        # 设置数据回调
+        self.linkereg.on_right_hand_data = self._on_right_hand_data
+        self.linkereg.on_left_hand_data = self._on_left_hand_data
+        
+        # ROS2 发布器 - 控制数据
+        self.publisher_r = self.node.create_publisher(
+            JointState,
+            '/cb_right_hand_control_cmd',
+            10
+        )
+        self.publisher_l = self.node.create_publisher(
+            JointState,
+            '/cb_left_hand_control_cmd',
+            10
+        )
+        
+        # ROS2 发布器 - 传感器原始数据 (默认创建，通过话题控制启用/禁用)
+        self.publisher_r_raw = self.node.create_publisher(
+            JointState,
+            '/cb_right_hand_raw_data',
+            10
+        )
+        self.publisher_l_raw = self.node.create_publisher(
+            JointState,
+            '/cb_left_hand_raw_data',
+            10
+        )
+        
+        # ROS2 订阅器 - 设置命令 (用于动态启用/禁用原始数据)
+        self.setting_sub = self.node.create_subscription(
+            String,
+            '/cb_hand_setting_cmd',
+            self._on_setting_cmd,
+            10
+        )
+        
+        # 定时器 - 检查连接状态
+        self.status_timer = self.node.create_timer(1.0, self._status_callback)
+        
+        self.node.get_logger().info("LinkerEG Retarget 模块已创建")
+    
+    def _on_right_hand_data(self, control_data: list, protocol: int):
+        """右手数据回调 - 直接发布数据"""
+        if not self.running:
+            return
+        
+        now = self.node.get_clock().now().to_msg()
+        protocol_info = PROTOCOL_MAP.get(protocol, {'name': 'Unknown', 'joints': len(control_data)})
+        
+        # 调试打印
+        if self.isdebug and self.pubprintcount % 50 == 0:
+            self.node.get_logger().info(
+                f"[LinkerEG] 右手 ({protocol_info['name']}): ctrl={control_data}"
+            )
+        
+        msg_ctrl = JointState()
+        msg_ctrl.header.stamp = now
+        msg_ctrl.name = [f'joint{i + 1}' for i in range(len(control_data))]
+        msg_ctrl.position = [float(v) for v in control_data]
+        msg_ctrl.velocity = [255.0] * len(control_data)
+        self.publisher_r.publish(msg_ctrl)
+        self.pubprintcount += 1
+    
+    def _on_left_hand_data(self, control_data: list, protocol: int):
+        """左手数据回调 - 直接发布数据"""
+        if not self.running:
+            return
+        
+        now = self.node.get_clock().now().to_msg()
+        protocol_info = PROTOCOL_MAP.get(protocol, {'name': 'Unknown', 'joints': len(control_data)})
+        
+        # 调试打印
+        if self.isdebug and self.pubprintcount % 50 == 0:
+            self.node.get_logger().info(
+                f"[LinkerEG] 左手 ({protocol_info['name']}): ctrl={control_data}"
+            )
+        
+        msg_ctrl = JointState()
+        msg_ctrl.header.stamp = now
+        msg_ctrl.name = [f'joint{i + 1}' for i in range(len(control_data))]
+        msg_ctrl.position = [float(v) for v in control_data]
+        msg_ctrl.velocity = [255.0] * len(control_data)
+        self.publisher_l.publish(msg_ctrl)
+    
+    def _on_right_hand_raw_data(self, raw_data: list):
+        """右手传感器原始数据回调 - 直接发布数据"""
+        if not self.running or not self.raw_data_enabled:
+            return
+        
+        now = self.node.get_clock().now().to_msg()
+        joint_names = [
+            'thumb_spread', 'thumb_bend', 'thumb_tip',
+            'index_spread', 'index_bend', 'index_tip',
+            'middle_spread', 'middle_bend', 'middle_tip',
+            'ring_spread', 'ring_bend', 'ring_tip',
+            'pinky_spread', 'pinky_bend', 'pinky_tip'
+        ]
+        msg = JointState()
+        msg.header.stamp = now
+        msg.name = joint_names
+        msg.position = [float(v) for v in raw_data]
+        self.publisher_r_raw.publish(msg)
+        self.raw_count += 1
+    
+    def _on_left_hand_raw_data(self, raw_data: list):
+        """左手传感器原始数据回调 - 直接发布数据"""
+        if not self.running or not self.raw_data_enabled:
+            return
+        
+        now = self.node.get_clock().now().to_msg()
+        joint_names = [
+            'thumb_spread', 'thumb_bend', 'thumb_tip',
+            'index_spread', 'index_bend', 'index_tip',
+            'middle_spread', 'middle_bend', 'middle_tip',
+            'ring_spread', 'ring_bend', 'ring_tip',
+            'pinky_spread', 'pinky_bend', 'pinky_tip'
+        ]
+        msg = JointState()
+        msg.header.stamp = now
+        msg.name = joint_names
+        msg.position = [float(v) for v in raw_data]
+        self.publisher_l_raw.publish(msg)
+    
+    def _on_setting_cmd(self, msg: String):
+        """
+        处理设置命令
+        
+        支持的命令:
+            on  - 启用传感器原始数据推送
+            off - 禁用传感器原始数据推送
+        """
+        cmd = msg.data.strip().lower()
+        
+        if cmd == 'on':
+            if self.raw_data_enabled:
+                return  # 已启用，静默忽略
+            
+            # 设置回调
+            self.linkereg.on_right_hand_raw_data = self._on_right_hand_raw_data
+            self.linkereg.on_left_hand_raw_data = self._on_left_hand_raw_data
+            
+            # 发送启用命令
+            self.linkereg.enable_raw_data()
+            self.raw_data_enabled = True
+            self.node.get_logger().info("[LinkerEG] 已启用传感器原始数据推送")
+            self.node.get_logger().info("[LinkerEG] 原始数据话题: /cb_right_hand_raw_data, /cb_left_hand_raw_data")
+        
+        elif cmd == 'off':
+            if not self.raw_data_enabled:
+                self.node.get_logger().info("[LinkerEG] 原始数据已经禁用")
+                return
+            
+            # 发送禁用命令
+            self.linkereg.disable_raw_data()
+            self.raw_data_enabled = False
+            
+            # 清除回调
+            self.linkereg.on_right_hand_raw_data = None
+            self.linkereg.on_left_hand_raw_data = None
+            
+            self.node.get_logger().info("[LinkerEG] 已禁用传感器原始数据推送")
+        
+        else:
+            self.node.get_logger().warn(f"[LinkerEG] 未知命令: {cmd}")
+            self.node.get_logger().info("[LinkerEG] 支持的命令: on, off")
+    
+    def _status_callback(self):
+        """定时状态检查回调"""
+        if not self.running:
+            return
+        
+        if self.linkereg.version:
+            # 版本号只打印一次
+            pass
+    
+    def initialize(self) -> bool:
+        """初始化串口连接和手套"""
+        if self.port:
+            self.node.get_logger().info(f"[LinkerEG] 正在连接指定串口 {self.port}...")
+        else:
+            self.node.get_logger().info("[LinkerEG] 未指定串口，将自动扫描...")
+        
+        # 打开串口（如果 port 为 None，会自动扫描）
+        if not self.linkereg.open():
+            self.node.get_logger().error("[LinkerEG] 无法打开串口")
+            return False
+        
+        # 更新实际使用的串口
+        self.port = self.linkereg.port
+        self.node.get_logger().info(f"[LinkerEG] 已连接串口: {self.port}")
+        
+        # 启动接收线程
+        self.linkereg.start()
+        
+        # 执行初始化流程
+        if not self.linkereg.initialize():
+            self.node.get_logger().error("[LinkerEG] 初始化失败")
+            return False
+        
+
+
+        # 等待版本号
+        timeout = 2.0
+        start_time = time.time()
+        while self.linkereg.version is None and (time.time() - start_time) < timeout:
+            time.sleep(0.1)
+        
+        if self.linkereg.version:
+            self.node.get_logger().info(f"[LinkerEG] 手套版本: {self.linkereg.version}")
+        else:
+            self.node.get_logger().warn("[LinkerEG] 未能获取版本号，但继续运行")
+        
+        self.node.get_logger().info("[LinkerEG] 初始化成功，等待数据...")
+        self.node.get_logger().info("[LinkerEG] 控制数据话题: /cb_right_hand_control_cmd, /cb_left_hand_control_cmd")
+        self.node.get_logger().info("[LinkerEG] 原始数据话题: /cb_right_hand_raw_data, /cb_left_hand_raw_data (默认禁用)")
+        self.node.get_logger().info("[LinkerEG] 设置命令话题: /cb_hand_setting_cmd (on/off)")
+        return True
+    
+    def process(self):
+        """主处理函数 (阻塞)"""
+        if not self.initialize():
+            self.node.get_logger().error("[LinkerEG] 初始化失败，无法启动")
+            return
+        
+        try:
+            # 保持节点运行
+            rclpy.spin(self.node)
+        except KeyboardInterrupt:
+            self.node.get_logger().info("[LinkerEG] 收到退出信号")
+        finally:
+            self.shutdown()
+    
+    def shutdown(self):
+        """关闭模块"""
+        self.running = False
+        # 禁用原始数据推送 (如果启用了)
+        if self.raw_data_enabled:
+            self.linkereg.disable_raw_data()
+        self.linkereg.close()
+        self.node.get_logger().info("[LinkerEG] 模块已关闭")
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/README.md b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/README.md
new file mode 100644
index 0000000..5b5c395
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/README.md
@@ -0,0 +1,420 @@
+# LinkerFFG Robot Hand Driver Module
+
+LinkerFFG (O6/L7/L10/G20/R20/L25) robot hand ROS1/ROS2 driver module, controls robot hands via serial port with real-time data glove mapping.
+
+---
+
+## Quick Start (Step-by-Step Guide)
+
+### Step 1: Install
+
+```bash
+# ROS2
+cd ~/ros2_ws/src
+git clone https://gitee.com/ericbrunt/linkerhand_telop_python.git
+mv linkerhand_telop_python/ros2/src/linkerhand_retarget ./
+rm -rf linkerhand_telop_python
+cd ..
+rosdep install --from-paths src --ignore-src -r -y
+colcon build --symlink-install
+source install/setup.bash
+
+# ROS1
+cd ~/catkin_ws/src
+git clone https://gitee.com/ericbrunt/linkerhand_telop_python.git
+mv linkerhand_telop_python/ros1/src ./
+rm -rf linkerhand_telop_python
+cd ..
+catkin_make install
+source install/setup.bash
+```
+
+### Step 2: Connect Serial Port
+
+Connect LinkerFFG robot hand to your PC via USB, then verify serial port permissions:
+
+```bash
+# Add current user to dialout group (requires re-login)
+sudo usermod -a -G dialout $USER
+
+# List serial devices
+ls -l /dev/ttyUSB*
+```
+
+### Step 3: Configure Robot Hand Model
+
+Edit `config/base_config.yml` to set robot hand model:
+
+```yaml
+system:
+  motion_type: linkerforce    # Data glove type: linkerforce (required)
+  robotname_r: l25            # Right hand model: o6 / l7 / l10 / g20 / r20 / l25
+  robotname_l: l25            # Left hand model
+
+serial:
+  auto_scan: false            # Enable auto serial scan
+  baudrates: [2000000, 460800, 1000000, 921600]  # 2000000 recommended
+  left:
+    port: /dev/ttyUSB1        # Left hand serial port
+    baudrate: 460800          # Wireless: 460800, Wired: 2000000
+  right:
+    port: /dev/ttyUSB0        # Right hand serial port
+    baudrate: 460800          # Wireless: 460800, Wired: 2000000
+```
+
+### Step 4: Launch
+
+**Method 1: Run node directly**
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+**Method 2: Specify serial port (without modifying config file)**
+
+```bash
+ros2 run linkerhand_retarget handretarget --ros-args \
+  -p ports:='["/dev/ttyUSB0", "/dev/ttyUSB1"]'
+```
+
+### Step 5: Calibration (if needed)
+
+```bash
+ros2 run linkerhand_retarget handretarget --ros-args -p calibration:=auto_calibrate
+```
+
+During calibration, perform three gestures as prompted:
+1. **Open hand** → hold for 5 seconds
+2. **Make fist** → hold for 5 seconds
+3. **O-pose** → hold for 5 seconds
+
+---
+
+## Robot Hand Models
+
+| Model | DOF | Description |
+|-------|-----|-------------|
+| O6 | 6 | 6-DOF basic model |
+| L7 | 7 | 7-DOF (thumb with roll) |
+| L10 | 10 | 10-DOF industrial model |
+| G20 | 20 | 20-DOF industrial model |
+| R20 | 20 | 20-DOF research model |
+| L25 | 25 | 25-DOF full-featured model |
+
+`robotname_r` and `robotname_l` in config must match the actual connected robot hand models.
+
+---
+
+## Serial Connection Details
+
+### Method 1: Command-line Port List (most common)
+
+Suitable when multiple serial ports exist, system auto-detects left/right hand:
+
+```bash
+ros2 run linkerhand_retarget handretarget --ros-args \
+  -p ports:='["/dev/ttyUSB0", "/dev/ttyUSB1"]'
+```
+
+### Serial Parameters
+
+| Parameter | Description | Default |
+|-----------|-------------|---------|
+| `ports` | Candidate port list | empty (use config file) |
+| `baudrate` | Specified baudrate (overrides config) | use config file |
+| `auto_scan` | Auto scan when preset fails | `false` |
+
+---
+
+## Calibration Details
+
+### Calibration Config
+
+In `config/base_config.yml`:
+
+```yaml
+calibration:
+  show_fist: true       # Whether to show fist calibration step
+  fist_extend_ratio: 0.5  # Fist extend ratio (only effective when show_fist=false)
+```
+
+### Start Calibration
+
+```bash
+ros2 run linkerhand_retarget handretarget --ros-args -p calibration:=auto_calibrate
+```
+
+### Calibration Process
+
+1. **Open hand** → hold for 5 seconds (motor value 255)
+2. **O-pose** → hold for 5 seconds (motor middle value)
+
+If `show_fist: true`, a third step appears:
+
+3. **Make fist** → hold for 5 seconds (motor value 0)
+
+### Difference between show_fist=true and show_fist=false
+
+| Item | `show_fist: true` | `show_fist: false` |
+|------|-------------------|-------------------|
+| Calibration steps | Open → O-pose → Fist (3 steps) | Open → O-pose (2 steps) |
+| Fist data source | User actually performs fist gesture | Calculated from O-pose by ratio |
+| Fist formula | N/A | `fist = opose + (opose - original) × fist_extend_ratio` |
+| Mapping precision | Three-segment linear interpolation, most accurate | Two-segment interpolation, relies on extension |
+| fist_extend_ratio | Not used | Controls extension ratio (default 0.5) |
+
+### fist_extend_ratio Details
+
+Only effective when `show_fist: false`, used to calculate fist value from O-pose:
+
+- `fist_extend_ratio = 0.5` (default): O-pose extends 50% toward fist
+- `fist_extend_ratio = 0.0`: fist value = O-pose value (no extension)
+- `fist_extend_ratio = 1.0`: fist value = O-pose + full (O-pose - Open) extension
+- Recommended range: `0.3 ~ 0.7`, adjust based on actual results
+
+### Stability Detection
+
+- Auto-detects gesture stability (variance < 0.03)
+- Requires **5 seconds continuous stability** to complete
+- Resets on instability, no timeout limit
+- Progress bar shows real-time stability duration
+
+### Calibration Data Storage
+
+- Location: `motion/linkerforce/tmp/jointangle_data.tmp`
+- Format: JSON
+- Auto-loads preset sample data on first use
+- Re-calibration overwrites old data
+
+---
+
+## Topic Parameter Control (Runtime Dynamic Adjustment)
+
+Dynamically adjust parameters via `/hand_teleop_param` topic without restarting the node.
+
+### Adjustable Parameters
+
+| Parameter | Description | Example |
+|-----------|-------------|---------|
+| `mapper_debug` | Mapper debug switch | `true` / `false` / `["thumb_rotate"]` |
+| `mapper_exp_factor` | Extrapolation factor | `2.0` (global) or `{"thumb_rotate": 2.0}` (per finger) |
+| `mapper_scale_factor` | Scale factor | `1.5` (global) or `{"index_root_flexion": 1.5}` (per finger) |
+| `force_glove_pose` | Force glove data source | `open` / `fist` / `opose` / `none` |
+
+### Usage Examples
+
+```bash
+# Enable mapper debug for all fingers
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_debug\": true}"}'
+
+# Debug specific thumb fingers
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_debug\": [\"thumb_rotate\", \"thumb_abduction\"]}"}'
+
+# Disable debug
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_debug\": false}"}'
+
+# Adjust global extrapolation factor (higher = faster to target)
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_exp_factor\": 2.0}"}'
+
+# Adjust per-finger extrapolation factor
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_exp_factor\": {\"thumb_rotate\": 2.0, \"index_root_flexion\": 1.5}}"}'
+
+# Adjust global scale factor
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_scale_factor\": 1.5}"}'
+
+# Use calibration data instead of glove data (for testing)
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"opose\"}"}'
+
+# Restore real-time glove data
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"none\"}"}'
+```
+
+### Available Finger Names
+
+| Finger | Names |
+|--------|-------|
+| Thumb | `thumb_rotate`, `thumb_abduction`, `thumb_root_flexion`, `thumb_end_flexion` |
+| Index | `index_roll`, `index_root_flexion`, `index_end_flexion` |
+| Middle | `middle_roll`, `middle_root_flexion`, `middle_end_flexion` |
+| Ring | `ring_roll`, `ring_root_flexion`, `ring_end_flexion` |
+| Pinky | `pinky_roll`, `pinky_root_flexion`, `pinky_end_flexion` |
+
+---
+
+## Mapping Parameters Details
+
+### Extrapolation Factor (exp_factor)
+
+Controls mapping extrapolation speed to target pose:
+- `= 1.0`: Linear extrapolation
+- `> 1.0`: Accelerated (faster to target)
+- `< 1.0`: Decelerated (smoother)
+
+### Scale Factor (scale_factor)
+
+Controls input-to-output mapping ratio:
+- `= 1.0`: 1:1 mapping
+- `> 1.0`: Amplified output range
+- `< 1.0`: Reduced output range
+
+### Force Glove Data Source (force_glove_pose)
+
+Use calibration data instead of real-time glove data for testing:
+
+| Value | Description |
+|-------|-------------|
+| `open` | Use open hand calibration data |
+| `fist` | Use fist calibration data |
+| `opose` | Use O-pose calibration data |
+| `none` | Use real-time glove data (default) |
+
+---
+
+## Configuration Details
+
+See the "Configuration" section in the main README for full config reference. LinkerFFG-specific configs:
+
+### system System Config
+
+| Config | Description | Options |
+|--------|-------------|---------|
+| `motion_type` | Data glove type | `linkerforce` (required) |
+| `robotname_r` | Right hand robot model | `o6`, `l7`, `l10`, `g20`, `r20`, `l25` |
+| `robotname_l` | Left hand robot model | same as above |
+| `retargeting_type` | Retargeting type | `projection` |
+
+### calibration Calibration Config
+
+| Config | Description | Default |
+|--------|-------------|---------|
+| `show_fist` | Show fist calibration step | `true` |
+| `fist_extend_ratio` | Fist extend ratio | `0.5` |
+
+### debug Debug Config
+
+| Config | Description | Default |
+|--------|-------------|---------|
+| `mapper_debug` | Mapper debug switch | `false` |
+| `joint_motor_debug_r` | Right hand joint motor debug | `false` |
+| `joint_motor_debug_l` | Left hand joint motor debug | `false` |
+
+---
+
+## Troubleshooting
+
+### Cannot open serial port
+
+```bash
+# Check serial permissions
+ls -l /dev/ttyUSB*
+# Grant permissions
+sudo chmod 666 /dev/ttyUSB0
+```
+
+### Robot hand not responding (Key Topic Monitoring)
+
+Follow these steps in order:
+
+**Step 1: Check if topics are published**
+
+```bash
+# List all related topics
+ros2 topic list | grep cb_
+
+# Check if data is being output (is the node publishing normally)
+ros2 topic echo /cb_right_hand_control_cmd --once
+ros2 topic echo /cb_left_hand_control_cmd --once
+```
+
+**Step 2: Check glove data topics**
+
+```bash
+# LinkerFFG driver does not publish glove data topics - this step can be skipped
+# To verify data source, check if /cb_right_hand_control_cmd has data output
+ros2 topic echo /cb_right_hand_control_cmd --once
+```
+
+**Step 3: Check LinkerFFG joint control topics**
+
+```bash
+# Check if joint control commands have output
+ros2 topic echo /cb_right_hand_control_cmd --once
+ros2 topic echo /cb_left_hand_control_cmd --once
+
+# Check topic frequency (should be around 50Hz)
+ros2 topic hz /cb_right_hand_control_cmd
+```
+
+**Step 4: Enable debug output**
+
+```bash
+# Enable all debug
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_debug\": true}"}'
+
+# Observe terminal output, check if glove data is changing
+# If data doesn't change, glove is not connected or topic is not published
+```
+
+**Step 5: Check calibration data**
+
+```bash
+# Check current calibration data in use
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"opose\"}"}'
+# Observe if robot hand responds
+
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"fist\"}"}'
+# Observe if robot hand grips
+
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"none\"}"}'
+# Restore normal data source
+```
+
+**Step 6: Check serial connection**
+
+1. Verify baudrate matches robot hand settings (wireless: 460800, wired: 2000000)
+2. Try `auto_scan: true` for auto detection
+3. Check robot hand power supply
+
+**Step 7: Check logs**
+
+```bash
+# View node logs
+ros2 run linkerhand_retarget handretarget
+# Observe debug info in terminal output
+```
+
+**Quick Problem Identification**
+
+| Symptom | Possible Cause | Solution |
+|---------|---------------|----------|
+| No topic data | Glove not connected or topic name wrong | Check glove connection, verify topic name |
+| Data always 0 or 255 | Calibration data abnormal | Re-calibrate or delete `tmp/jointangle_data.tmp` |
+| Data fluctuates wildly | Serial signal interference | Check serial cable, use shielded cable |
+| No terminal output | Node didn't start successfully | Check for errors, verify dependencies installed |
+| Topic has data but robot hand doesn't move | Robot hand SDK not receiving commands | Check SDK connection, verify topic is subscribed |
+
+---
+
+## File Structure
+
+```
+motion/linkerforce/
+├── config/              # Hand model configurations
+│   ├── o6_config.py     # O6 config
+│   ├── l6_config.py     # L6 config
+│   ├── l7_config.py     # L7 config
+│   ├── l10_config.py    # L10 config
+│   ├── l20_config.py    # L20 config
+│   ├── g20_config.py    # G20 config
+│   └── o7_config.py     # O7 config
+├── hand/                # Robot hand drivers
+│   ├── linkerforce_o6.py
+│   ├── linkerforce_l6.py
+│   ├── linkerforce_l7.py
+│   ├── linkerforce_l10.py
+│   ├── linkerforce_l20.py
+│   └── linkerforce_g20.py
+├── tmp/                 # Temp files (calibration data, etc.)
+├── retarget.py          # ROS integration
+└── README.md           # English documentation
+```
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/README_zh.md b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/README_zh.md
new file mode 100644
index 0000000..29bc911
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/README_zh.md
@@ -0,0 +1,407 @@
+# LinkerFFG 机械手驱动模块
+
+LinkerFFG (O6/L7/L10/G20/R20/L25) 机械手的 ROS1/ROS2 驱动模块，通过串口控制机械手，支持数据手套实时映射。
+
+---
+
+## 快速入门
+### 步骤 1：安装
+
+```bash
+# ROS2
+cd ~/ros2_ws/src
+git clone https://gitee.com/ericbrunt/linkerhand_telop_python.git
+mv linkerhand_telop_python/ros2/src/linkerhand_retarget ./
+rm -rf linkerhand_telop_python
+cd ..
+rosdep install --from-paths src --ignore-src -r -y
+colcon build --symlink-install
+source install/setup.bash
+
+# ROS1
+cd ~/catkin_ws/src
+git clone https://gitee.com/ericbrunt/linkerhand_telop_python.git
+mv linkerhand_telop_python/ros1/src ./
+rm -rf linkerhand_telop_python
+cd ..
+catkin_make install
+source install/setup.bash
+```
+
+### 步骤 2：连接串口
+
+将 LinkerFFG 机械手通过 USB 连接到电脑，确认串口权限：
+
+```bash
+# 添加当前用户到 dialout 组（需要重新登录生效）
+sudo usermod -a -G dialout $USER
+
+# 查看串口设备
+ls -l /dev/ttyUSB*
+```
+
+### 步骤 3：配置机械手型号
+
+编辑 `config/base_config.yml`，设置机械手型号：
+
+```yaml
+system:
+  motion_type: linkerforce    # 数据手套类型：linkerforce（必须）
+  robotname_r: l25            # 右手机械手型号：o6 / l7 / l10 / g20 / r20 / l25
+  robotname_l: l25            # 左手机械手型号
+
+serial:
+  auto_scan: false            # 是否自动扫描串口
+  baudrates: [2000000, 460800, 1000000, 921600]  # 波特率列表，2000000 优先
+  left:
+    port: /dev/ttyUSB1        # 左手套接的串口
+    baudrate: 460800          # 无线460800  有线2000000 
+  right:
+    port: /dev/ttyUSB0        # 右手套接的串口
+    baudrate: 460800          # 无线460800  有线2000000 
+```
+
+### 步骤 4：启动
+
+**方式一：直接运行节点**
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+**方式二：指定串口启动（不修改配置文件）**
+
+```bash
+ros2 run linkerhand_retarget handretarget --ros-args \
+  -p ports:='["/dev/ttyUSB0", "/dev/ttyUSB1"]'
+```
+
+### 步骤 5：标定（如需要）
+
+```bash
+ros2 run linkerhand_retarget handretarget --ros-args -p calibration:=auto_calibrate
+```
+
+标定时按照提示做三个动作：
+1. **五指张开** → 保持 5 秒
+2. **握紧拳头** → 保持 5 秒
+3. **O 型手势** → 保持 5 秒
+
+---
+
+## 机械手型号说明
+
+| 型号 | 关节数 | 说明 |
+|------|--------|------|
+| O6 | 6 | 6 自由度基础款 |
+| L7 | 7 | 7 自由度（拇指增加横滚） |
+| L10 | 10 | 10 自由度工业款 |
+| G20 | 20 | 20 自由度工业款 |
+| L25 | 25 | 25 自由度全功能款 |
+
+配置中的 `robotname_r` 和 `robotname_l` 必须与实际连接的机械手型号匹配。
+
+---
+
+## 串口参数说明
+
+| 参数 | 说明 | 默认值 |
+|------|------|--------|
+| `ports` | 候选串口列表 | 空（使用配置文件） |
+| `baudrate` | 指定波特率（优先级高于配置） | 使用配置文件 |
+| `auto_scan` | 预设失败后是否自动扫描 | `false` |
+
+---
+
+## 自动标定详解
+
+### 标定配置
+
+在 `config/base_config.yml` 中：
+
+```yaml
+calibration:
+  show_fist: true       # 是否显示握拳标定步骤
+  fist_extend_ratio: 0.5  # 握拳延伸比例（仅 show_fist=false 时生效）
+```
+
+### 启动标定
+
+```bash
+ros2 run linkerhand_retarget handretarget --ros-args -p calibration:=auto_calibrate
+```
+
+### 标定流程
+
+1. **五指张开** → 保持 5 秒（电机值 255）
+2. **O 型手势** → 保持 5 秒（电机中间值）
+
+如果 `show_fist: true`，还会出现第三步：
+
+3. **握紧拳头** → 保持 5 秒（电机值 0）
+
+### show_fist=true 与 show_fist=false 的区别
+
+| 对比项 | `show_fist: true` | `show_fist: false` |
+|--------|-------------------|-------------------|
+| 标定步骤 | 张开 → O 型 → 握拳（共 3 步） | 张开 → O 型（共 2 步） |
+| 握拳数据来源 | 用户实际做握拳动作采集 | 从 O 型按比例延伸计算 |
+| 握拳延伸公式 | 无 | `fist = opose + (opose - original) × fist_extend_ratio` |
+| 映射精度 | 三段线性插值，最精确 | 两段插值，依赖延伸估算 |
+| fist_extend_ratio | 不生效 | 控制延伸比例（默认 0.5） |
+
+### fist_extend_ratio 详解
+
+仅在 `show_fist: false` 时生效，用于从 O 型自动计算握拳值：
+
+- `fist_extend_ratio = 0.5`（默认）：O 型向握拳方向延伸 50%
+- `fist_extend_ratio = 0.0`：握拳值 = O 型值（无延伸）
+- `fist_extend_ratio = 1.0`：握拳值 = O 型 + (O 型 - 张开) 的全量延伸
+- 推荐值范围：`0.3 ~ 0.7`，需要根据实际效果调整
+
+### 稳定性检测
+
+- 标定时自动检测手势稳定性（方差 < 0.03）
+- 需**连续稳定 5 秒**才完成采集
+- 不稳定时清空重来，无超时限制
+- 终端显示进度条，实时反馈稳定时长
+
+### 标定数据存储
+
+- 存储位置：`motion/linkerforce/tmp/jointangle_data.tmp`
+- 格式：JSON
+- 首次使用自动加载内置样本数据
+- 重新标定会覆盖旧数据
+
+---
+
+## 话题参数控制（运行时动态调整）
+
+通过 `/hand_teleop_param` 话题动态调整运行参数，无需重启节点。
+
+### 可调参数
+
+| 参数 | 说明 | 示例值 |
+|------|------|--------|
+| `mapper_debug` | 映射器调试开关 | `true` / `false` / `["thumb_rotate"]` |
+| `mapper_exp_factor` | 延伸指数因子 | `2.0`（全局）或 `{"thumb_rotate": 2.0}`（单指） |
+| `mapper_scale_factor` | 缩放因子 | `1.5`（全局）或 `{"index_root_flexion": 1.5}`（单指） |
+| `force_glove_pose` | 强制手套数据源 | `open` / `fist` / `opose` / `none` |
+
+### 使用示例
+
+```bash
+# 开启全部手指的映射器调试
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_debug\": true}"}'
+
+# 只调试拇指相关手指
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_debug\": [\"thumb_rotate\", \"thumb_abduction\"]}"}'
+
+# 关闭调试
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_debug\": false}"}'
+
+# 调整全局延伸指数（值越大到达目标越快）
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_exp_factor\": 2.0}"}'
+
+# 调整单指延伸指数
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_exp_factor\": {\"thumb_rotate\": 2.0, \"index_root_flexion\": 1.5}}"}'
+
+# 调整全局缩放因子
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_scale_factor\": 1.5}"}'
+
+# 用标定数据替代手套数据（用于测试）
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"opose\"}"}'
+
+# 恢复实时手套数据
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"none\"}"}'
+```
+
+### 可用手指名称
+
+| 手指 | 参数名称 |
+|------|----------|
+| 拇指 | `thumb_rotate`, `thumb_abduction`, `thumb_root_flexion`, `thumb_end_flexion` |
+| 食指 | `index_roll`, `index_root_flexion`, `index_end_flexion` |
+| 中指 | `middle_roll`, `middle_root_flexion`, `middle_end_flexion` |
+| 无名指 | `ring_roll`, `ring_root_flexion`, `ring_end_flexion` |
+| 小指 | `pinky_roll`, `pinky_root_flexion`, `pinky_end_flexion` |
+
+---
+
+## 映射参数详解
+
+### 延伸指数因子 (exp_factor)
+
+控制映射延伸到目标姿态的速度：
+- `= 1.0`：线性延伸
+- `> 1.0`：加速延伸（更快到达目标）
+- `< 1.0`：减速延伸（更平滑）
+
+### 缩放因子 (scale_factor)
+
+控制输入到输出的映射比例：
+- `= 1.0`：1:1 映射
+- `> 1.0`：放大输出范围
+- `< 1.0`：缩小输出范围
+
+### 强制手套数据源 (force_glove_pose)
+
+用标定数据替代实时手套数据，用于调试和测试：
+
+| 值 | 说明 |
+|-----|------|
+| `open` | 使用五指张开标定数据 |
+| `fist` | 使用握拳标定数据 |
+| `opose` | 使用 O 型手势标定数据 |
+| `none` | 使用实时手套数据（默认） |
+
+---
+
+## 配置文件详解
+
+完整配置项见主 README 的「配置说明」章节。LinkerFFG 驱动专用配置：
+
+### system 系统配置
+
+| 配置项 | 说明 | 可选值 |
+|--------|------|--------|
+| `motion_type` | 数据手套类型 | `linkerforce`（必须） |
+| `robotname_r` | 右手机械手型号 | `o6`, `l7`, `l10`, `g20`, `r20`, `l25` |
+| `robotname_l` | 左手机械手型号 | 同上 |
+| `retargeting_type` | 重定向类型 | `projection` |
+
+### calibration 标定配置
+
+| 配置项 | 说明 | 默认值 |
+|--------|------|--------|
+| `show_fist` | 是否显示握拳标定步骤 | `true` |
+| `fist_extend_ratio` | 握拳延伸比例 | `0.5` |
+
+### debug 调试配置
+
+| 配置项 | 说明 | 默认值 |
+|--------|------|--------|
+| `mapper_debug` | 映射器调试开关 | `false` |
+| `joint_motor_debug_r` | 右手关节电机调试 | `false` |
+| `joint_motor_debug_l` | 左手关节电机调试 | `false` |
+
+---
+
+## 故障排除
+
+### 串口无法打开
+
+```bash
+# 检查串口权限
+ls -l /dev/ttyUSB*
+# 添加权限
+sudo chmod 666 /dev/ttyUSB0
+```
+
+### 机械手无反应（重点监测话题）
+
+按以下顺序逐项检查：
+
+**步骤 1：检查 LinkerFFG 输出话题**
+
+```bash
+# 查看 LinkerFFG 驱动发布的话题
+ros2 topic list | grep cb_
+
+# 查看是否有数据输出（机械手节点是否正常发布数据）
+ros2 topic echo /cb_right_hand_control_cmd --once
+ros2 topic echo /cb_left_hand_control_cmd --once
+```
+
+**步骤 2：检查手套数据话题**
+
+```bash
+# 查看手套数据是否到达（LinkerFFG 驱动不发布此话题，此步骤可跳过）
+# 如需验证数据源，请检查 /cb_right_hand_control_cmd 是否有数据输出
+ros2 topic echo /cb_right_hand_control_cmd --once
+```
+
+**步骤 3：检查 LinkerFFG 关节控制话题**
+
+```bash
+# 查看关节控制指令是否有输出
+ros2 topic echo /cb_right_hand_control_cmd --once
+ros2 topic echo /cb_left_hand_control_cmd --once
+
+# 查看话题频率是否正常（应该 50Hz 左右）
+ros2 topic hz /cb_right_hand_control_cmd
+```
+
+**步骤 4：启用调试打印**
+
+```bash
+# 开启全部调试
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"mapper_debug\": true}"}'
+
+# 查看终端输出，是否有手套数据变化
+# 如果数据不变，说明手套未连接或话题未发布
+```
+
+**步骤 5：检查标定数据**
+
+```bash
+# 查看当前使用的标定数据
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"opose\"}"}'
+# 观察机械手是否有反应
+
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"fist\"}"}'
+# 观察机械手是否握紧
+
+ros2 topic pub --once /hand_teleop_param std_msgs/msg/String '{"data": "{\"force_glove_pose\": \"none\"}"}'
+# 恢复正常数据源
+```
+
+**步骤 6：检查串口连接**
+
+1. 确认波特率配置与机械手一致（无线 460800，有线 2000000）
+2. 尝试使用 `auto_scan: true` 自动检测
+3. 检查机械手电源是否正常
+
+**步骤 7：检查日志**
+
+```bash
+# 查看节点日志
+ros2 run linkerhand_retarget handretarget
+# 观察终端输出的 debug 信息
+```
+
+**常见问题快速定位**
+
+| 现象 | 可能原因 | 解决方法 |
+|------|----------|----------|
+| 话题无数据 | 手套未连接或话题名错误 | 检查手套连接，确认话题名 |
+| 数据一直是 0 或 255 | 标定数据异常 | 重新标定或删除 `tmp/jointangle_data.tmp` |
+| 数据跳变剧烈 | 串口信号干扰 | 检查串口线，使用屏蔽线 |
+| 终端无输出 | 节点未启动成功 | 检查是否报错，检查依赖是否安装 |
+| 话题有数据但机械手不动 | 机械手SDK未收到指令 | 检查机械手SDK连接，确认话题被正确订阅 |
+
+---
+
+## 文件结构
+
+```
+motion/linkerforce/
+├── config/              # 手型配置文件
+│   ├── o6_config.py     # O6 手型配置
+│   ├── l6_config.py     # L6 手型配置
+│   ├── l7_config.py     # L7 手型配置
+│   ├── l10_config.py    # L10 手型配置
+│   ├── l20_config.py    # L20 手型配置
+│   ├── g20_config.py    # G20 手型配置
+│   └── o7_config.py     # O7 手型配置
+├── hand/                # 机械手驱动
+│   ├── linkerforce_o6.py
+│   ├── linkerforce_l6.py
+│   ├── linkerforce_l7.py
+│   ├── linkerforce_l10.py
+│   ├── linkerforce_l20.py
+│   └── linkerforce_g20.py
+├── tmp/                 # 临时文件（标定数据等）
+├── retarget.py          # ROS 集成层
+└── README.md            # 本文档
+```
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config.py
new file mode 100644
index 0000000..02a52be
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config.py
@@ -0,0 +1,473 @@
+# 手指配置常量
+FINGER_CONFIGS = {
+    # 含义解释：
+    # robot_idx：URDF关节序列
+
+    # 拇指旋转3个关节的加权系数，人手的0/1/2序列，对应URDF的第1关节(下标0)
+    'thumb_rotate': {
+        'name': '拇指旋转',
+        'joints': [1, 2],
+        'weights': {
+            'v1': [1, 0],
+            'v2': [1, 0]
+        },
+        'robot_idx': 0,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 1.0
+        }
+    },  
+    # 拇指侧摆3个关节的加权系数，人手的0/1/2序列，对应URDF的第2关节(下标1)
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [0, 1, 2],
+        'weights': {
+            'v1': [0.7, 0.3, 0],
+            'v2': [0.7, 0.3, 0]
+        },
+        'robot_idx': 1,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 1.0
+        }
+    },
+    # 拇指根部弯曲3个关节的加权系数，人手的2/3/4序列，对应URDF的第3关节(下标2)
+    'thumb_root_flexion': {
+        'name': '拇指根部弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 2,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None, 
+        # {  
+        #     'trigger_finger': 'thumb_abduction',
+        #     'threshold': 0.3,
+        #     'low_weight_config': {
+        #         'joints': [2, 3, 4],
+        #         'weights': [1, 0, 0],
+        #         'reverse_motion': False
+        #     },
+        #     'high_weight_config': {
+        #         'joints': [2, 3, 4],
+        #         'weights': [0.3, 0.0, 0.7],
+        #         'reverse_motion': False
+        #     }
+        # },
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 30
+        }
+    },
+    # 拇指指尖弯曲3个关节的加权系数，人手的2/3/4序列，对应URDF的第4关节(下标3)
+    'thumb_end_flexion': {
+        'name': '拇指指尖弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 3,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 50
+        }
+    },
+    # 食指ROLL旋转（侧摆）关节的加权系数，人手的5序列，对应URDF的第4关节(下标3)
+    'index_roll': {
+        'name': '食指',
+        'joints': [5],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 5,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    # 食指弯曲（根部弯曲）的加权系数，人身的6/7/8序列，对应URDF的第4关节(下标3)
+    'index_root_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 6,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    # 食指弯曲（末端弯曲）的加权系数，人手的6/7/8序列，对应URDF的第4关节(下标3)
+    'index_end_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 7,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 30
+        }
+    },
+    # 中指ROLL旋转（侧摆）关节的加权系数，人手的5序列，对应URDF的第4关节(下标3)
+    'middle_roll': {
+        'name': '中指',
+        'joints': [9],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 9,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 1.0
+        }
+    },
+    # 中指弯曲（根部弯曲）的加权系数，人手的10/11/12序列，对应URDF的第6关节(下标5)
+    'middle_root_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 10,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    # 中指弯曲（末端弯曲）的加权系数，人手的10/11/12序列，对应URDF的第6关节(下标5)
+    'middle_end_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 11,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 30
+        }
+    },
+    # 无名指ROLL旋转（侧摆）关节的加权系数，人手的5序列，对应URDF的第4关节(下标3)
+    'ring_roll': {
+        'name': '无名指',
+        'joints': [13],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 13,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    # 无名指弯曲（根部弯曲）的加权系数，人手的14/15/16序列，对应URDF的第8关节(下标7)
+    'ring_root_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 14,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    # 无名指弯曲（末端弯曲）的加权系数，人手的14/15/16序列，对应URDF的第8关节(下标7)
+    'ring_end_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 15,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 30
+        }
+    },
+    # 小指ROLL旋转（侧摆）关节的加权系数，人手的5序列，对应URDF的第4关节(下标3)
+    'pinky_roll': {
+        'name': '小指',
+        'joints': [17],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 17,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    # 小指弯曲（根部弯曲）的加权系数，人手的18/19/20序列，对应URDF的第10关节(下标9)
+    'pinky_root_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 18,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    # 小指弯曲（末端弯曲）的加权系数，人手的18/19/20序列，对应URDF的第10关节(下标9)
+    'pinky_end_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 19,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1,
+            'extended_exp_factor': 30
+        }
+    }
+}
+
+# 映射顺序
+MAPPING_ORDER = [
+    'thumb_rotate', 'thumb_abduction', 'thumb_root_flexion', 'thumb_end_flexion', 
+    'index_roll', 'index_root_flexion', 'index_end_flexion', 
+    'middle_roll', 'middle_root_flexion', 'middle_end_flexion', 
+    'ring_roll', 'ring_root_flexion','ring_end_flexion', 
+    'pinky_roll', 'pinky_root_flexion', 'pinky_end_flexion'
+]
+
+# 三态默认配置
+MULTI_SEGMENT_CONFIG = {
+    'states': [
+        'original', 
+        'opose', 
+        # 'fist'  # 取消注释启用三段映射
+    ],
+    'state_names': {
+        'original': '张手',
+        'opose': 'O手势',
+        # 'fist': '握拳'
+    }
+}
+MULTI_SEGMENT_CONFIG_FROZEN = tuple(MULTI_SEGMENT_CONFIG['states'])
+
+ROBOT_ORIGINAL_LEFT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 
+    0.2, 0.0, 0.0, 0.0, 
+    0.0, 0.0, 0.0, 0.0, 
+    -0.2, 0.0, 0.0, 0.0, 
+    -0.2, 0.0, 0.0, 0.0
+]
+
+ROBOT_ORIGINAL_RIGHT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 
+    -0.2, 0.0, 0.0, 0.0, 
+    0.0, 0.0, 0.0, 0.0, 
+    0.2, 0.0, 0.0, 0.0, 
+    0.2, 0.0, 0.0, 0.0
+]
+
+ROBOT_OPOSE_LEFT = [
+    0.6, 1.2, 0.5, 0.6, 0.0, 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00 , 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00 
+]
+
+ROBOT_OPOSE_RIGHT = [
+    0.6, 1.2, 0.5, 0.6, 0.0, 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00, 
+    0.0, 0.7, 1.08, 0.00
+]
+
+ROBOT_FIST_RIGHT = [
+    1.39, 1.57, 0.83, 1.25, 1.29,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55
+]
+
+ROBOT_FIST_LEFT = [
+    1.39, 1.57, 0.83, 1.25, 1.29,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55,
+    0, 1.22, 1.75, 1.55
+]
+
+# 电机输出约束配置 (20电机)
+MOTOR_CONSTRAINTS = {
+    'left': [
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 80, 'max': 255, 'enabled': True},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+    ],
+    'right': [
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 80, 'max': 255, 'enabled': True},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+    ]
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py
new file mode 100644
index 0000000..db74520
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py
@@ -0,0 +1,297 @@
+FINGER_CONFIGS = {
+    'thumb_rotate': {
+        'name': '拇指旋转',
+        'joints': [1, 2],
+        'weights': {
+            'v1': [1, 0],
+            'v2': [1, 0]
+        },
+        'robot_idx': 0,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 1
+        }
+    },
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [0, 1, 2],
+        'weights': {
+            'v1': [0, 0, 1],
+            'v2': [0, 1, 0]
+        },
+        'robot_idx': 1,
+        'type': 'thumb',
+        'reverse_motion': False,
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.3,
+            'extended_exp_factor': 10
+        }
+    },
+    'thumb_root_flexion': {
+        'name': '拇指弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [0.2, 0, 0.8],
+            'v2': [0.6, 0, 0.4]
+        },
+        'robot_idx': 2,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 2
+        }
+    },
+    'index_roll': {
+        'name': '食指',
+        'joints': [5],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 5,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },   
+    'index_root_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 6,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 25
+        }
+    },
+    'middle_root_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 9,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 25
+        }
+    },
+    'ring_roll': {
+        'name': '无名指',
+        'joints': [13],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 12,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    'ring_root_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 13,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 25
+        }
+    },
+    'pinky_roll': {
+        'name': '小指',
+        'joints': [17],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 16,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    'pinky_root_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 17,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 30
+        }
+    }
+}
+
+MAPPING_ORDER = [
+    'thumb_rotate', 'thumb_abduction', 'thumb_root_flexion',
+    'index_roll','index_root_flexion', 
+    'middle_root_flexion', 
+    'ring_roll', 'ring_root_flexion', 
+    'pinky_roll', 'pinky_root_flexion',
+    
+]
+
+MULTI_SEGMENT_CONFIG = {
+    'states': [
+        'original',
+        'opose',
+        # 'fist'
+        ],
+    'state_names': {
+        'original': '张手',
+        'opose': 'O手势',
+        # 'fist': '握拳'
+    }
+}
+MULTI_SEGMENT_CONFIG_FROZEN = tuple(MULTI_SEGMENT_CONFIG['states'])
+
+ROBOT_OPOSE_LEFT = [
+    0.13, 1.13, 0.28, 0.0, 0.0, 
+    0.0, 0.73, 0.0, 0.0,
+         0.73, 0.0, 0.0,
+    0.0, 0.73, 0.0, 0.0,
+    0.0, 0.73, 0.0, 0.0
+]
+
+ROBOT_OPOSE_RIGHT = [
+    0.13, 1.13, 0.28, 0.0, 0.0, 
+    0.0, 0.73, 0.0, 0.0,
+         0.73, 0.0, 0.0,
+    0.0, 0.73, 0.0, 0.0,
+    0.0, 0.73, 0.0, 0.0
+]
+
+ROBOT_ORIGINAL_LEFT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 
+    0.22, 0.0, 0.0, 0.0,
+          0.0, 0.0, 0.0,
+    -0.22, 0.0, 0.0, 0.0,
+    -0.22, 0.0, 0.0, 0.0
+]
+
+ROBOT_ORIGINAL_RIGHT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 
+    -0.22, 0.0, 0.0, 0.0,
+           0.0, 0.0, 0.0,
+    0.22, 0.0, 0.0, 0.0,
+    0.22, 0.0, 0.0, 0.0
+]
+
+ROBOT_FIST_LEFT = [
+    1.1339, 1.9189, 0.5146, 0.7152, 0.7763,
+    0, 1.3607, 1.8317, 1.8317,
+       1.3607, 1.8317, 0.628,
+    0, 1.3607, 1.8317, 0.628,
+    0, 1.3607, 1.8317, 0.628
+]
+
+ROBOT_FIST_RIGHT = [
+    1.1339, 1.9189, 0.5146, 0.7152, 0.7763,
+    0, 1.3607, 1.8317, 1.8317,
+       1.3607, 1.8317, 0.628,
+    0, 1.3607, 1.8317, 0.628,
+    0, 1.3607, 1.8317, 0.628
+]
+
+# 电机输出约束配置
+# 格式: {'min': 最小值, 'max': 最大值, 'enabled': 是否启用}
+# None 表示不约束该电机
+MOTOR_CONSTRAINTS = {
+    'left': [
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 0: 拇指弯曲
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 1: 拇指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 2: 食指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 3: 中指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 4: 无名指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 5: 小指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 6: 食指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 7: 无名指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 8: 小指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 9: 拇指旋转
+    ],
+    'right': [
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 0: 拇指弯曲
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 1: 拇指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 2: 食指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 3: 中指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 4: 无名指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 5: 小指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 6: 食指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 7: 无名指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 8: 小指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 9: 拇指旋转
+    ]
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l20_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l20_config.py
new file mode 100644
index 0000000..414e2a0
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l20_config.py
@@ -0,0 +1,434 @@
+# 手指配置常量
+FINGER_CONFIGS = {
+    'thumb_rotate': {
+        'name': '拇指旋转',
+        'joints': [1, 2],
+        'weights': {
+            'v1': [1, 0],
+            'v2': [1, 0]
+        },
+        'robot_idx': 0,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 1.5
+        }
+    },
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [0, 1, 2],
+        'weights': {
+            'v1': [0.7, 0.3, 0],
+            'v2': [0.7, 0.3, 0]
+        },
+        'robot_idx': 1,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    'thumb_root_flexion': {
+        'name': '拇指根部弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 2,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': {
+            'trigger_finger': 'thumb_abduction',
+            'threshold': 0.3,
+            'low_weight_config': {
+                'joints': [2, 3, 4],
+                'weights': {'v1': [1, 0, 0], 'v2': [1, 0, 0]},
+                'reverse_motion': {'v1': False, 'v2': False}
+            },
+            'high_weight_config': {
+                'joints': [2, 3, 4],
+                'weights': {'v1': [0.3, 0.0, 0.7], 'v2': [0.3, 0.0, 0.7]},
+                'reverse_motion': {'v1': False, 'v2': False}
+            }
+        },
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    'thumb_end_flexion': {
+        'name': '拇指指尖弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 3,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 0.9,
+            'extended_exp_factor': 1.5
+        }
+    },
+    'index_roll': {
+        'name': '食指',
+        'joints': [5],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 5,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    'index_root_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 6,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    'index_end_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 7,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 0.9,
+            'extended_exp_factor': 1.5
+        }
+    },
+    'middle_roll': {
+        'name': '中指',
+        'joints': [9],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 9,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 5
+        }
+    },
+    'middle_root_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 10,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    'middle_end_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 11,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 0.9,
+            'extended_exp_factor': 1.5
+        }
+    },
+    'ring_roll': {
+        'name': '无名指',
+        'joints': [13],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 13,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    'ring_root_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 14,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    'ring_end_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 15,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 0.9,
+            'extended_exp_factor': 1.5
+        }
+    },
+    'pinky_roll': {
+        'name': '小指',
+        'joints': [17],
+        'weights': {
+            'v1': [1],
+            'v2': [1]
+        },
+        'robot_idx': 17,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': False,
+            'scale_factor': 1.0,
+        }
+    },
+    'pinky_root_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [1, 0.0, 0],
+            'v2': [1, 0.0, 0]
+        },
+        'robot_idx': 18,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    },
+    'pinky_end_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [0, 0.0, 1],
+            'v2': [0, 0.0, 1]
+        },
+        'robot_idx': 19,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 0.9,
+            'extended_exp_factor': 1.5
+        }
+    }
+}
+
+MAPPING_ORDER = [
+    'thumb_rotate', 'thumb_abduction', 'thumb_root_flexion', 'thumb_end_flexion', 
+    'index_roll', 'index_root_flexion', 'index_end_flexion', 
+    'middle_roll', 'middle_root_flexion', 'middle_end_flexion', 
+    'ring_roll', 'ring_root_flexion','ring_end_flexion', 
+    'pinky_roll', 'pinky_root_flexion', 'pinky_end_flexion'
+]
+
+MULTI_SEGMENT_CONFIG = {
+    'states': [
+        'original', 
+        'opose', 
+        'fist'
+        ],
+    'state_names': {
+        'original': '张手',
+        'opose': 'O手势',
+        'fist': '握拳'
+    }
+}
+MULTI_SEGMENT_CONFIG_FROZEN = tuple(MULTI_SEGMENT_CONFIG['states'])
+
+ROBOT_ORIGINAL_LEFT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0
+]
+
+ROBOT_ORIGINAL_RIGHT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0
+]
+
+ROBOT_FIST_RIGHT = [
+    0.5, 1.57, 0.6, 1.2, 1.2,
+    0.18, 1.33, 1.77, 1.43,
+    0.18, 1.33, 1.77, 1.43,
+    0.18, 1.33, 1.77, 1.43,
+    0.18, 1.33, 1.77, 1.43
+]
+
+ROBOT_FIST_LEFT = [
+    0.5, 1.57, 0.6, 1.2, 1.2,
+    0.18, 1.33, 1.77, 1.43,
+    0.18, 1.33, 1.77, 1.43,
+    0.18, 1.33, 1.77, 1.43,
+    0.18, 1.33, 1.77, 1.43
+]
+
+ROBOT_OPOSE_LEFT = [
+    0.0, 1.2, 0.3, 0.8, 0.0, 0.0, 0.65, 1.0, 0.0, 0.0, 0.65, 1.0, 0.0, 0.0, 0.65, 1.0, 0.0, 0.0, 0.65, 1.0, 0.0
+]
+
+ROBOT_OPOSE_RIGHT = [
+    0.0, 1.2, 0.3, 0.8, 0.0, 0.0, 0.65, 1.0, 0.0, 0.0, 0.65, 1.0, 0.0, 0.0, 0.65, 1.0, 0.0, 0.0, 0.65, 1.0, 0.0
+]
+
+MOTOR_CONSTRAINTS = {
+    'left': [
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': True},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': True},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+    ],
+    'right': [
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': True},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': True},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+        {'min': 0, 'max': 255, 'enabled': False},
+    ]
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l6_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l6_config.py
new file mode 100644
index 0000000..9409707
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l6_config.py
@@ -0,0 +1,209 @@
+FINGER_CONFIGS = {
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [0, 1, 2],
+        'weights': {
+            'v1': [0, 0, 1],
+            'v2': [0, 1, 0]
+        },
+        'robot_idx': 0,
+        'type': 'thumb',
+        'reverse_motion': False,
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.3,
+            'extended_exp_factor': 10
+        }
+    },
+    'thumb_root_flexion': {
+        'name': '拇指弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [0.2, 0, 0.8],
+            'v2': [0.6, 0, 0.4]
+        },
+        'robot_idx': 1,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 2
+        }
+    },
+    'index_root_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 3,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 5
+        }
+    },
+    'middle_root_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 5,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 5
+        }
+    },
+    'ring_root_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 7,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 5
+        }
+    },
+    'pinky_root_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 9,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 5
+        }
+    }
+}
+
+MAPPING_ORDER = [
+    'thumb_abduction', 'thumb_root_flexion',
+    'index_root_flexion', 'middle_root_flexion', 'ring_root_flexion', 'pinky_root_flexion'
+]
+
+MULTI_SEGMENT_CONFIG = {
+    'states': [
+        'original',
+        # 'opose',
+        'fist'
+    ],
+    'state_names': {
+        'original': '张手',
+        # 'opose': 'O手势',
+        'fist': '握拳'
+    }
+}
+MULTI_SEGMENT_CONFIG_FROZEN = tuple(MULTI_SEGMENT_CONFIG['states'])
+
+ROBOT_OPOSE_LEFT = [
+    1.4, 0.5, 0.0, 
+    0.48, 0.0, 
+    0.48, 0.0, 
+    0.48, 0.0, 
+    0.48, 0.0
+]
+
+ROBOT_OPOSE_RIGHT = [
+    1.4, 0.5, 0.0, 
+    0.48, 0.0, 
+    0.48, 0.0, 
+    0.48, 0.0, 
+    0.48, 0.0
+]
+
+ROBOT_ORIGINAL_LEFT = [
+    0.0, 0.0, 0.0, 
+    0.0, 0.0, 
+    0.0, 0.0, 
+    0.0, 0.0, 
+    0.0, 0.0
+]
+
+ROBOT_ORIGINAL_RIGHT = [
+    0.0, 0.0, 0.0, 
+    0.0, 0.0, 
+    0.0, 0.0, 
+    0.0, 0.0, 
+    0.0, 0.0
+]
+
+# 握拳姿态 (使用 URDF upper limit)
+ROBOT_FIST_LEFT = [
+    1.53, 0.73, 0.66, 
+    1.22, 1.08, 
+    1.22, 1.08, 
+    1.22, 1.08, 
+    1.22, 1.08
+]
+
+ROBOT_FIST_RIGHT = [
+    1.53, 0.73, 0.66, 
+    1.22, 1.08, 
+    1.22, 1.08, 
+    1.22, 1.08, 
+    1.22, 1.08
+]
+
+# 电机输出约束配置
+# 格式: {'min': 最小值, 'max': 最大值, 'enabled': 是否启用}
+# None 表示不约束该电机
+MOTOR_CONSTRAINTS = {
+    'left': [
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 0: 拇指弯曲
+        {'min': 15, 'max': 255, 'enabled': True},   # motor 1: 拇指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 2: 食指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 3: 中指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 4: 无名指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 5: 小指
+    ],
+    'right': [
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 0: 拇指弯曲
+        {'min': 18, 'max': 255, 'enabled': True},   # motor 1: 拇指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 2: 食指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 3: 中指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 4: 无名指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 5: 小指
+    ]
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/o6_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/o6_config.py
new file mode 100644
index 0000000..0ee2f65
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/o6_config.py
@@ -0,0 +1,187 @@
+# 手指配置常量
+FINGER_CONFIGS = {
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [0, 1, 2],
+        'weights': {
+            'v1': [0, 0, 1],
+            'v2': [0, 1, 0]
+        },
+        'robot_idx': 0,
+        'type': 'thumb',
+        'reverse_motion': False,
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 10
+        }
+    },
+    'thumb_root_flexion': {
+        'name': '拇指弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [0, 0, 1],
+            'v2': [0.2, 0, 0.8]
+        },
+        'robot_idx': 1,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 10
+        }
+    },
+    'index_root_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [1.0, 0.0, 0.0],
+            'v2': [1.0, 0.0, 0.0]
+        },
+        'robot_idx': 3,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 10
+        }
+    },
+    'middle_root_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [1.0, 0.0, 0.0],
+            'v2': [1.0, 0.0, 0.0]
+        },
+        'robot_idx': 5,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 10
+        }
+    },
+    'ring_root_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [1.0, 0.0, 0.0],
+            'v2': [1.0, 0.0, 0.0]
+        },
+        'robot_idx': 7,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 10
+        }
+    },
+    'pinky_root_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [1.0, 0.0, 0.0],
+            'v2': [1.0, 0.0, 0.0]
+        },
+        'robot_idx': 9,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 10
+        }
+    }
+}
+
+MAPPING_ORDER = [
+    'thumb_abduction', 'thumb_root_flexion',
+    'index_root_flexion', 'middle_root_flexion', 'ring_root_flexion', 'pinky_root_flexion'
+]
+
+MULTI_SEGMENT_CONFIG = {
+    'states': [
+        'original', 
+        # 'opose',
+        'fist'
+        ],
+    'state_names': {
+        'original': '张手',
+        # 'opose': 'O手势',
+        'fist': '握拳'
+    }
+}
+MULTI_SEGMENT_CONFIG_FROZEN = tuple(MULTI_SEGMENT_CONFIG['states'])
+
+ROBOT_OPOSE_LEFT = [
+    1.1, 0.33, 0.0, 0.84, 0.0, 0.84, 0.0, 0.84, 0.0, 0.84, 0.0
+]
+
+ROBOT_OPOSE_RIGHT = [
+    1.1, 0.33, 0.0, 0.84, 0.0, 0.84, 0.0, 0.84, 0.0, 0.84, 0.0
+]
+
+ROBOT_ORIGINAL_LEFT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+]
+
+ROBOT_ORIGINAL_RIGHT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+]
+
+ROBOT_FIST_LEFT = [
+    1.54, 0.52, 0.96, 1.57, 1.4, 1.57, 1.4, 1.57, 1.4, 1.57, 1.4
+]
+
+ROBOT_FIST_RIGHT = [
+    1.54, 0.52, 0.96, 1.57, 1.4, 1.57, 1.4, 1.57, 1.4, 1.57, 1.4
+]
+
+PLOTGUI_ROBOT_ID = [
+    0, 1, 2
+]
+
+# 电机输出约束配置 (6电机)
+MOTOR_CONSTRAINTS = {
+    'left': [
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 0: 拇指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 1: 拇指根部
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 2: 食指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 3: 中指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 4: 无名指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 5: 小指
+    ],
+    'right': [
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 0: 拇指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 1: 拇指根部
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 2: 食指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 3: 中指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 4: 无名指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 5: 小指
+    ]
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/o7_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/o7_config.py
new file mode 100644
index 0000000..d177aa4
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/o7_config.py
@@ -0,0 +1,217 @@
+# 手指配置常量
+FINGER_CONFIGS = {
+    'thumb_rotate': {
+        'name': '拇指旋转',
+        'joints': [1, 2],
+        'weights': {
+            'v1': [0.3, 0.7],
+            'v2': [0.3, 0.7]
+        },
+        'robot_idx': 0,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 5
+        }
+    },
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [0, 1, 2],
+        'weights': {
+            'v1': [0, 0, 1],
+            'v2': [0, 1, 0]
+        },
+        'robot_idx': 1,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.3,
+            'extended_exp_factor': 10
+        }
+    },
+    'thumb_root_flexion': {
+        'name': '拇指弯曲',
+        'joints': [2, 3, 4],
+        'weights': {
+            'v1': [0.2, 0, 0.8],
+            'v2': [0.6, 0, 0.4]
+        },
+        'robot_idx': 2,
+        'type': 'thumb',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 2
+        }
+    },
+    'index_root_flexion': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 5,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 25
+        }
+    },
+    'middle_root_flexion': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 8,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 25
+        }
+    },
+    'ring_root_flexion': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 11,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.0,
+            'extended_exp_factor': 25
+        }
+    },
+    'pinky_root_flexion': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': {
+            'v1': [1, 0, 0],
+            'v2': [1, 0, 0]
+        },
+        'robot_idx': 14,
+        'type': 'finger',
+        'reverse_motion': {
+            'v1': False,
+            'v2': False
+        },
+        'dynamic_weight': None,
+        'extended_mapping': {
+            'enabled': True,
+            'scale_factor': 1.2,
+            'extended_exp_factor': 30
+        }
+    }
+}
+
+MAPPING_ORDER = [
+    'thumb_rotate', 'thumb_abduction', 'thumb_root_flexion',
+    'index_root_flexion', 'middle_root_flexion', 'ring_root_flexion', 'pinky_root_flexion'
+]
+
+MULTI_SEGMENT_CONFIG = {
+    'states': [
+        'original',
+        'opose',
+        # 'fist'
+    ],
+    'state_names': {
+        'original': '张手',
+        'opose': 'O手势',
+        # 'fist': '握拳'
+    }
+}
+MULTI_SEGMENT_CONFIG_FROZEN = tuple(MULTI_SEGMENT_CONFIG['states'])
+
+ROBOT_OPOSE_LEFT = [
+    0.0, 0.8, 0.5, 0.0, 0.0, 0.7, 0.0, 0.0, 0.7, 0.0, 0.0, 0.7, 0.0, 0.0, 0.7
+]
+
+ROBOT_OPOSE_RIGHT = [
+    0.0, 0.8, 0.5, 0.0, 0.0, 0.7, 0.0, 0.0, 0.7, 0.0, 0.0, 0.7, 0.0, 0.0, 0.7
+]
+
+ROBOT_ORIGINAL_LEFT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+]
+
+ROBOT_ORIGINAL_RIGHT = [
+    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+]
+
+ROBOT_FIST_LEFT = [
+    1.0467, 1.2037, 0.4867, 0.6699, 0.6611,
+    1.3275, 1.7915, 0.6053,
+    1.3275, 1.7915, 0.6053,
+    1.3275, 1.7915, 0.6053,
+    1.3275, 1.7915, 0.6053
+]
+
+ROBOT_FIST_RIGHT = [
+    1.0467, 1.2037, 0.4867, 0.6699, 0.6611,
+    1.3275, 1.7915, 0.6053,
+    1.3275, 1.7915, 0.6053,
+    1.3275, 1.7915, 0.6053,
+    1.3275, 1.7915, 0.6053
+]
+
+# 电机输出约束配置
+# 格式: {'min': 最小值, 'max': 最大值, 'enabled': 是否启用}
+MOTOR_CONSTRAINTS = {
+    'left': [
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 0: 拇指旋转
+        {'min': 30, 'max': 255, 'enabled': True},   # motor 1: 拇指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 2: 拇指弯曲
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 3: 食指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 4: 中指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 5: 无名指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 6: 小指
+    ],
+    'right': [
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 0: 拇指旋转
+        {'min': 30, 'max': 255, 'enabled': True},   # motor 1: 拇指侧摆
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 2: 拇指弯曲
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 3: 食指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 4: 中指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 5: 无名指
+        {'min': 0, 'max': 255, 'enabled': False},   # motor 6: 小指
+    ]
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_g20.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_g20.py
new file mode 100644
index 0000000..1eec528
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_g20.py
@@ -0,0 +1,521 @@
+"""
+LinkerForce G20 手型映射模块 - ROS2版本
+支持基于标定数据的精确映射
+v2.8.0升级了映射器算法
+"""
+import numpy as np
+import copy
+from linkerhand.handcore import HandCore
+from ..config.g20_config import FINGER_CONFIGS, MAPPING_ORDER, ROBOT_OPOSE_RIGHT, ROBOT_OPOSE_LEFT, ROBOT_ORIGINAL_LEFT, ROBOT_ORIGINAL_RIGHT, ROBOT_FIST_LEFT, ROBOT_FIST_RIGHT, MULTI_SEGMENT_CONFIG, MULTI_SEGMENT_CONFIG_FROZEN, MOTOR_CONSTRAINTS
+from typing import List
+from linkerhand.handcoreex import DynamicWeightMultiStateLinearMapper,MultiStateLinearMapper
+
+def _resolve_version_config(configs: dict, version: str) -> dict:
+    """
+    解析版本配置，将字典格式的 weights/reverse_motion 转换为具体值
+    """
+    resolved = copy.deepcopy(configs)
+    for finger_name, config in resolved.items():
+        if 'weights' in config and isinstance(config['weights'], dict):
+            config['weights'] = config['weights'].get(version, config['weights'].get('v2', [0.5, 0, 0.5]))
+        if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+            config['reverse_motion'] = config['reverse_motion'].get(version, config['reverse_motion'].get('v2', False))
+    return resolved
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=20, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None    # 五指张开标定值 (对应255)
+        self.calibrationfistpose = None    # 握拳标定值 (对应0)
+        self.calibrationopose = None       # O型标定值 (对应中间值)
+        self.glove_version = 'v2'
+        
+        # ========== 平滑滤波参数 ==========
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5  # 平滑系数：越小越平滑，范围 0.05-0.3
+        self.smooth_positions = [255.0] * length  # 平滑后的位置（浮点）
+        self.max_step = 20  # 每帧最大变化量，防止跳变
+
+        # 目标机械手预设姿势，数值从URDF获取数据集，
+        # 张开手的时候对应最小角度，
+        # 握拳的时候对应最大角度
+        # O型手势的时候，用工具驱动URDF去驱动目标机械手达到期望姿势，也可以调整这些参数使得实物更加达到期望角度
+        # 其他手势也类似，也可以增加多个手势来实现多模态的映射器（后期陆续开发）
+        self.robot_original = ROBOT_ORIGINAL_RIGHT
+        self.robot_opose = ROBOT_OPOSE_RIGHT
+        self.robot_fist = ROBOT_FIST_RIGHT
+
+        finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
+
+        for config_name, config in FINGER_CONFIGS.items():
+            if config.get('dynamic_weight'):
+                self.multi_state_mapper.set_dynamic_weight_config(config_name, config['dynamic_weight'])
+
+        self.motor_constraints = MOTOR_CONSTRAINTS['right']
+
+    def _apply_motor_constraints(self):
+        for i, constraint in enumerate(self.motor_constraints):
+            if constraint.get('enabled', False):
+                min_val = constraint.get('min', 0)
+                max_val = constraint.get('max', 255)
+                self.g_jointpositions[i] = int(max(min_val, min(max_val, self.g_jointpositions[i])))
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+        
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+        
+        if version_key == self.glove_version:
+            return
+            
+        self.glove_version = version_key
+        
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+            
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def initialize_mapper(self) -> bool:
+        """
+        初始化映射器
+
+        将三种人手标定数据和三种机械手标定数据加载到映射器中
+        分别是original,opose,fist
+
+        人手是glove_前缀,机械手是robot_前缀
+        """
+
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+
+        self.multi_state_mapper.set_state_order(list(MULTI_SEGMENT_CONFIG_FROZEN))
+
+        state_info = self.multi_state_mapper.get_state_info()
+
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            # print(111)
+            return data.tolist()
+        else:
+            return list(data)
+
+    # V2.8.0 本函数作废
+    # def _linear_map_diff(self, current_diff, fist_diff, extend_ratio=1.2):
+    #     """
+    #     基于差值的线性映射到0-255
+        
+    #     注意: 传入joint_update的是差值 (当前值 - 张开值)
+        
+    #     参数:
+    #         current_diff: 当前传感器差值 (当前值 - 张开值)
+    #         fist_diff: 握拳时的差值 (握拳值 - 张开值)
+    #         extend_ratio: 缩放比例，>1.0 使映射更容易到达0/255边界
+        
+    #     映射逻辑：
+    #         - 差值为0（张开）→ 255
+    #         - 差值为fist_diff（握拳）→ 0
+    #     """
+    #     if abs(fist_diff) < 0.01:
+    #         return 128  # 变化太小，返回中值
+        
+    #     # 缩小fist_diff使得更容易到达0边界
+    #     effective_fist_diff = fist_diff / extend_ratio
+        
+    #     # 计算比例: 差值0→比例0, 差值fist_diff→比例1
+    #     ratio = current_diff / effective_fist_diff
+    #     ratio = max(0.0, min(1.0, ratio))  # 限制在0-1之间
+        
+    #     # 映射: 比例0→255, 比例1→0
+    #     return int((1 - ratio) * 255)
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        右手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+        # ========== 没有标定数据时使用手动映射 ==========
+        else:
+            arc_value = None
+        
+        if arc_value is not None:
+            qpos[16] = self.g_jointpositions_arc[0] = arc_value[0] 
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[1]
+            qpos[18] = self.g_jointpositions_arc[2] = arc_value[2]
+            qpos[19] = self.g_jointpositions_arc[3] = arc_value[3]
+            
+            qpos[0] = self.g_jointpositions_arc[5] = arc_value[5]
+            qpos[1] = self.g_jointpositions_arc[6] = arc_value[6]
+            qpos[2] = self.g_jointpositions_arc[7] = arc_value[7]
+            qpos[3] = self.g_jointpositions_arc[8] = arc_value[8]
+
+            qpos[4] = self.g_jointpositions_arc[17] = arc_value[17]
+            qpos[5] = self.g_jointpositions_arc[18] = arc_value[18]
+            qpos[6] = self.g_jointpositions_arc[19] = arc_value[19]
+            qpos[7] = self.g_jointpositions_arc[4] = arc_value[20]
+
+            qpos[8] = self.g_jointpositions_arc[9] = arc_value[9]
+            qpos[9] = self.g_jointpositions_arc[10] = arc_value[10]
+            qpos[10] = self.g_jointpositions_arc[11] = arc_value[11]
+            qpos[11] = self.g_jointpositions_arc[12] = arc_value[12]
+
+            qpos[12] = self.g_jointpositions_arc[13] = arc_value[13]
+            qpos[13] = self.g_jointpositions_arc[14] = arc_value[14]
+            qpos[14] = self.g_jointpositions_arc[15] = arc_value[15]
+            qpos[15] = self.g_jointpositions_arc[16] = arc_value[16]
+        else:
+            # 手动映射备用
+            qpos[20] = joint_arc[4] * 2.2
+            qpos[17] = joint_arc[2] * -2.5
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+        
+        # ========== 应用平滑滤波 ==========
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        self._apply_motor_constraints()
+        self.g_jointpositions = self._apply_smooth(self.g_jointpositions)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=20, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None
+        self.calibrationfistpose = None
+        self.calibrationopose = None
+        self.glove_version = 'v2'
+        
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5
+        self.smooth_positions = [255.0] * length
+        self.max_step = 20
+
+        self.robot_original = ROBOT_ORIGINAL_LEFT
+        self.robot_opose = ROBOT_OPOSE_LEFT
+        self.robot_fist = ROBOT_FIST_LEFT
+
+        finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
+
+        for config_name, config in FINGER_CONFIGS.items():
+            if config.get('dynamic_weight'):
+                self.multi_state_mapper.set_dynamic_weight_config(config_name, config['dynamic_weight'])
+
+        self.motor_constraints = MOTOR_CONSTRAINTS['left']
+
+    def _apply_motor_constraints(self):
+        for i, constraint in enumerate(self.motor_constraints):
+            if constraint.get('enabled', False):
+                min_val = constraint.get('min', 0)
+                max_val = constraint.get('max', 255)
+                self.g_jointpositions[i] = int(max(min_val, min(max_val, self.g_jointpositions[i])))
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+        
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+        
+        if version_key == self.glove_version:
+            return
+            
+        self.glove_version = version_key
+        
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+            
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def initialize_mapper(self) -> bool:
+        """
+        初始化映射器
+
+        将三种人手标定数据和三种机械手标定数据加载到映射器中
+        分别是original,opose,fist
+
+        人手是glove_前缀,机械手是robot_前缀
+        """
+
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+
+        self.multi_state_mapper.set_state_order(list(MULTI_SEGMENT_CONFIG_FROZEN))
+
+        state_info = self.multi_state_mapper.get_state_info()
+
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            # print(111)
+            return data.tolist()
+        else:
+            return list(data)
+
+    # V2.8.0 本函数作废
+    # def _linear_map_diff(self, current_diff, fist_diff, extend_ratio=1.2):
+    #     """
+    #     基于差值的线性映射到0-255
+        
+    #     注意: 传入joint_update的是差值 (当前值 - 张开值)
+        
+    #     参数:
+    #         current_diff: 当前传感器差值 (当前值 - 张开值)
+    #         fist_diff: 握拳时的差值 (握拳值 - 张开值)
+    #         extend_ratio: 缩放比例，>1.0 使映射更容易到达0/255边界
+        
+    #     映射逻辑：
+    #         - 差值为0（张开）→ 255
+    #         - 差值为fist_diff（握拳）→ 0
+    #     """
+    #     if abs(fist_diff) < 0.01:
+    #         return 128  # 变化太小，返回中值
+        
+    #     # 缩小fist_diff使得更容易到达0边界
+    #     effective_fist_diff = fist_diff / extend_ratio
+        
+    #     # 计算比例: 差值0→比例0, 差值fist_diff→比例1
+    #     ratio = current_diff / effective_fist_diff
+    #     ratio = max(0.0, min(1.0, ratio))  # 限制在0-1之间
+        
+    #     # 映射: 比例0→255, 比例1→0
+    #     return int((1 - ratio) * 255)
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        右手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+        # ========== 没有标定数据时使用手动映射 ==========
+        else:
+            arc_value = None
+        
+        if arc_value is not None:
+            qpos[16] = self.g_jointpositions_arc[0] = arc_value[0] 
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[1]
+            qpos[18] = self.g_jointpositions_arc[2] = arc_value[2]
+            qpos[19] = self.g_jointpositions_arc[3] = arc_value[3]
+            
+            qpos[0] = self.g_jointpositions_arc[5] = arc_value[5]
+            qpos[1] = self.g_jointpositions_arc[6] = arc_value[6]
+            qpos[2] = self.g_jointpositions_arc[7] = arc_value[7]
+            qpos[3] = self.g_jointpositions_arc[8] = arc_value[8]
+
+            qpos[4] = self.g_jointpositions_arc[17] = arc_value[17]
+            qpos[5] = self.g_jointpositions_arc[18] = arc_value[18]
+            qpos[6] = self.g_jointpositions_arc[19] = arc_value[19]
+            qpos[7] = self.g_jointpositions_arc[4] = arc_value[20]
+
+            qpos[8] = self.g_jointpositions_arc[9] = arc_value[9]
+            qpos[9] = self.g_jointpositions_arc[10] = arc_value[10]
+            qpos[10] = self.g_jointpositions_arc[11] = arc_value[11]
+            qpos[11] = self.g_jointpositions_arc[12] = arc_value[12]
+
+            qpos[12] = self.g_jointpositions_arc[13] = arc_value[13]
+            qpos[13] = self.g_jointpositions_arc[14] = arc_value[14]
+            qpos[14] = self.g_jointpositions_arc[15] = arc_value[15]
+            qpos[15] = self.g_jointpositions_arc[16] = arc_value[16]
+        else:
+            # 手动映射备用
+            qpos[20] = joint_arc[4] * 2.2
+            qpos[17] = joint_arc[2] * -2.5
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+        
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+        # print(qpos[4],arc_value[17],self.g_jointpositions[9])
+        self._apply_motor_constraints()
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l10.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l10.py
new file mode 100644
index 0000000..283bbb6
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l10.py
@@ -0,0 +1,387 @@
+"""
+LinkerForce L10 手型映射模块 - ROS2版本
+"""
+import numpy as np
+import copy
+from linkerhand.handcore import HandCore
+from ..config.l10_config import FINGER_CONFIGS, MAPPING_ORDER, ROBOT_OPOSE_RIGHT, ROBOT_OPOSE_LEFT, ROBOT_ORIGINAL_RIGHT, ROBOT_ORIGINAL_LEFT, ROBOT_FIST_RIGHT, ROBOT_FIST_LEFT, MULTI_SEGMENT_CONFIG, MULTI_SEGMENT_CONFIG_FROZEN, MOTOR_CONSTRAINTS
+from typing import List
+from linkerhand.handcoreex import DynamicWeightMultiStateLinearMapper,MultiStateLinearMapper
+
+def _resolve_version_config(configs: dict, version: str) -> dict:
+    """
+    解析版本配置，将字典格式的 weights/reverse_motion 转换为具体值
+    """
+    resolved = copy.deepcopy(configs)
+    for finger_name, config in resolved.items():
+        if 'weights' in config and isinstance(config['weights'], dict):
+            config['weights'] = config['weights'].get(version, config['weights'].get('v2', [0.5, 0, 0.5]))
+        if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+            config['reverse_motion'] = config['reverse_motion'].get(version, config['reverse_motion'].get('v2', False))
+    return resolved
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=10, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None
+        self.calibrationfistpose = None
+        self.calibrationopose = None
+        self.glove_version = 'v2'
+        
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5
+        self.smooth_positions = [255.0] * length
+        self.max_step = 20
+
+        self.robot_original = ROBOT_ORIGINAL_RIGHT
+        self.robot_opose = ROBOT_OPOSE_RIGHT
+        self.robot_fist = ROBOT_FIST_RIGHT
+
+        finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
+
+        for config_name, config in FINGER_CONFIGS.items():
+            if config.get('dynamic_weight'):
+                self.multi_state_mapper.set_dynamic_weight_config(config_name, config['dynamic_weight'])
+
+        self.motor_constraints = MOTOR_CONSTRAINTS['right']
+    
+    def _apply_motor_constraints(self):
+        for i, constraint in enumerate(self.motor_constraints):
+            if constraint.get('enabled', False):
+                min_val = constraint.get('min', 0)
+                max_val = constraint.get('max', 255)
+                self.g_jointpositions[i] = int(max(min_val, min(max_val, self.g_jointpositions[i])))
+    
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+        
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+        
+        if version_key == self.glove_version:
+            return
+            
+        self.glove_version = version_key
+        
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+            
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def initialize_mapper(self) -> bool:
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+        self.multi_state_mapper.set_state_order(list(MULTI_SEGMENT_CONFIG_FROZEN))
+    
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            return data.tolist()
+        else:
+            return list(data)
+    
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        右手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+        
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            # arc_value = ROBOT_OPOSE_RIGHT
+            qpos[20] = self.g_jointpositions_arc[0] = arc_value[2]
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[1]
+            qpos[1] = self.g_jointpositions_arc[2] = arc_value[6]
+            qpos[9] = self.g_jointpositions_arc[3] = arc_value[9]
+            qpos[13] = self.g_jointpositions_arc[4] = arc_value[13]
+            qpos[5] = self.g_jointpositions_arc[5] = arc_value[17]
+            qpos[0] = self.g_jointpositions_arc[6] = arc_value[5]
+            qpos[12] = self.g_jointpositions_arc[7] = arc_value[12]
+            qpos[4] = self.g_jointpositions_arc[8] = arc_value[16]
+            qpos[16] = self.g_jointpositions_arc[9] = arc_value[0]
+        else:
+            # 拇指处理
+            qpos[16] = joint_arc[1] * 1.2
+            qpos[17] = joint_arc[0] * -2 + joint_arc[1] * 1.2
+            qpos[20] = joint_arc[4] * 0.5 + joint_arc[2] * 0.8
+    
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[4] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        
+        self._apply_motor_constraints()
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=10, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None
+        self.calibrationfistpose = None
+        self.calibrationopose = None
+        self.glove_version = 'v2'
+        
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5
+        self.smooth_positions = [255.0] * length
+        self.max_step = 20
+
+        self.robot_original = ROBOT_ORIGINAL_LEFT
+        self.robot_opose = ROBOT_OPOSE_LEFT
+        self.robot_fist = ROBOT_FIST_LEFT
+
+        finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
+
+        for config_name, config in FINGER_CONFIGS.items():
+            if config.get('dynamic_weight'):
+                self.multi_state_mapper.set_dynamic_weight_config(config_name, config['dynamic_weight'])
+
+        self.motor_constraints = MOTOR_CONSTRAINTS['left']
+
+    def _apply_motor_constraints(self):
+        for i, constraint in enumerate(self.motor_constraints):
+            if constraint.get('enabled', False):
+                min_val = constraint.get('min', 0)
+                max_val = constraint.get('max', 255)
+                self.g_jointpositions[i] = int(max(min_val, min(max_val, self.g_jointpositions[i])))
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+        
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+        
+        if version_key == self.glove_version:
+            return
+            
+        self.glove_version = version_key
+        
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+            
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def initialize_mapper(self) -> bool:
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+        self.multi_state_mapper.set_state_order(list(MULTI_SEGMENT_CONFIG_FROZEN))
+    
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            return data.tolist()
+        else:
+            return list(data)
+    
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            qpos[20] = self.g_jointpositions_arc[0] = arc_value[2]
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[1]
+            qpos[1] = self.g_jointpositions_arc[2] = arc_value[6]
+            qpos[9] = self.g_jointpositions_arc[3] = arc_value[9]
+            qpos[13] = self.g_jointpositions_arc[4] = arc_value[13]
+            qpos[5] = self.g_jointpositions_arc[5] = arc_value[17]
+            qpos[0] = self.g_jointpositions_arc[6] = arc_value[5]
+            qpos[12] = self.g_jointpositions_arc[7] = arc_value[12]
+            qpos[4] = self.g_jointpositions_arc[8] = arc_value[16]
+            qpos[16] = self.g_jointpositions_arc[9] = arc_value[0]
+        else:
+            qpos[16] = joint_arc[1] * 1.2
+            qpos[17] = joint_arc[0] * -2 + joint_arc[1] * 1.2
+            qpos[20] = joint_arc[4] * 0.5 + joint_arc[2] * 0.8
+    
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+        self._apply_motor_constraints()
+
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l20.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l20.py
new file mode 100644
index 0000000..f27162a
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l20.py
@@ -0,0 +1,558 @@
+"""
+LinkerForce L20 手型映射模块 - ROS2版本
+"""
+
+import numpy as np
+import copy
+from linkerhand.handcore import HandCore
+from ..config.l20_config import (
+    FINGER_CONFIGS, MAPPING_ORDER, MULTI_SEGMENT_CONFIG,
+    ROBOT_ORIGINAL_LEFT, ROBOT_ORIGINAL_RIGHT,
+    ROBOT_FIST_LEFT, ROBOT_FIST_RIGHT,
+    ROBOT_OPOSE_LEFT, ROBOT_OPOSE_RIGHT,
+    MOTOR_CONSTRAINTS
+)
+from typing import List
+from linkerhand.handcoreex import DynamicWeightMultiStateLinearMapper,MultiStateLinearMapper
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=20, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None    # 五指张开标定值 (对应255)
+        self.calibrationfistpose = None    # 握拳标定值 (对应0)
+        self.calibrationopose = None       # O型标定值 (对应中间值)
+        self.glove_version = 'v2'
+        
+        # ========== 平滑滤波参数 ==========
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5  # 平滑系数：越小越平滑，范围 0.05-0.3
+        self.smooth_positions = [255.0] * length  # 平滑后的位置（浮点）
+        self.max_step = 20  # 每帧最大变化量，防止跳变
+
+        # 目标机械手预设姿势，数值从URDF获取数据集，
+        # 张开手的时候对应最小角度，
+        # 握拳的时候对应最大角度
+        # O型手势的时候，用工具驱动URDF去驱动目标机械手达到期望姿势，也可以调整这些参数使得实物更加达到期望角度
+        # 其他手势也类似，也可以增加多个手势来实现多模态的映射器（后期陆续开发）
+        self.robot_original = ROBOT_ORIGINAL_RIGHT
+        self.robot_opose = ROBOT_OPOSE_RIGHT
+        self.robot_fist = ROBOT_FIST_RIGHT
+
+        # self.robot_fist[0] = -0.2 # 拇指旋转锁死在最大0.2，高于0.2的属于无用区间
+        # self.robot_fist[1] = 1.4 # 拇指侧摆锁死在最大1.2，高于1.2的属于无用区间
+
+        # 这里可以额外对self.robot_fist的非期望值进行修正，
+        # 由于机械手达到最大值，存在非期望值的区域，在这里可以进行修正，
+        # 同样也需要URDF驱动工具包去做这个事情
+
+
+        # 映射器（v2.8.0专属），具体介绍参考l6_config.py文件
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(FINGER_CONFIGS, MAPPING_ORDER, is_debug=is_debug)
+
+        # 设置动态权重配置（v2.8.2新增）
+        for config_name, config in FINGER_CONFIGS.items():
+            if config.get('dynamic_weight'):
+                self.multi_state_mapper.set_dynamic_weight_config(config_name, config['dynamic_weight'])
+
+        # 电机输出约束
+        self.motor_constraints = MOTOR_CONSTRAINTS['right']
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+
+        if version_key == self.glove_version:
+            return
+
+        self.glove_version = version_key
+
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def initialize_mapper(self) -> bool:
+        """
+        初始化映射器
+
+        将三种人手标定数据和三种机械手标定数据加载到映射器中
+        分别是original,opose,fist
+
+        人手是glove_前缀,机械手是robot_前缀
+        """
+        # 侧摆部分预处理
+        for i in [5, 9, 13, 17]:
+            self.calibrationoriginal[i] = self.calibrationopose[i] + 0.1
+            self.calibrationfistpose[i] = self.calibrationopose[i] - 0.1
+
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+
+        self.multi_state_mapper.set_state_order(MULTI_SEGMENT_CONFIG['states'])
+
+        state_info = self.multi_state_mapper.get_state_info()
+
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            print(111)
+            return data.tolist()
+        else:
+            return list(data)
+
+    def _apply_motor_constraints(self, positions):
+        """应用电机输出约束"""
+        if not hasattr(self, 'motor_constraints') or self.motor_constraints is None:
+            return positions
+        result = []
+        for i, pos in enumerate(positions):
+            if i < len(self.motor_constraints) and self.motor_constraints[i].get('enabled', False):
+                result.append(max(self.motor_constraints[i]['min'], min(pos, self.motor_constraints[i]['max'])))
+            else:
+                result.append(pos)
+        return result
+
+    # V2.8.0 本函数作废
+    # def _linear_map_diff(self, current_diff, fist_diff, extend_ratio=1.2):
+    #     """
+    #     基于差值的线性映射到0-255
+
+    #     注意: 传入joint_update的是差值 (当前值 - 张开值)
+
+    #     参数:
+    #         current_diff: 当前传感器差值 (当前值 - 张开值)
+    #         fist_diff: 握拳时的差值 (握拳值 - 张开值)
+    #         extend_ratio: 缩放比例，>1.0 使映射更容易到达0/255边界
+
+    #     映射逻辑：
+    #         - 差值为0（张开）→ 255
+    #         - 差值为fist_diff（握拳）→ 0
+    #     """
+    #     if abs(fist_diff) < 0.01:
+    #         return 128  # 变化太小，返回中值
+
+    #     # 缩小fist_diff使得更容易到达0边界
+    #     effective_fist_diff = fist_diff / extend_ratio
+
+    #     # 计算比例: 差值0→比例0, 差值fist_diff→比例1
+    #     ratio = current_diff / effective_fist_diff
+    #     ratio = max(0.0, min(1.0, ratio))  # 限制在0-1之间
+
+    #     # 映射: 比例0→255, 比例1→0
+    #     return int((1 - ratio) * 255)
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        右手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            # arc_value = ROBOT_OPOSE_RIGHT
+            qpos[16] = self.g_jointpositions_arc[0] = arc_value[0] 
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[1]
+            qpos[18] = self.g_jointpositions_arc[2] = arc_value[2]
+            qpos[19] = self.g_jointpositions_arc[3] = arc_value[3]
+            
+            qpos[0] = self.g_jointpositions_arc[5] = arc_value[5]
+            qpos[1] = self.g_jointpositions_arc[6] = arc_value[6]
+
+            qpos[2] = self.g_jointpositions_arc[7] = arc_value[7]
+            qpos[3] = self.g_jointpositions_arc[8] = arc_value[8]
+
+            qpos[4] = self.g_jointpositions_arc[17] = arc_value[17]
+            qpos[5] = self.g_jointpositions_arc[18] = arc_value[18]
+            qpos[6] = self.g_jointpositions_arc[19] = arc_value[19]
+            qpos[7] = self.g_jointpositions_arc[4] = arc_value[20]
+
+            qpos[8] = self.g_jointpositions_arc[9] = arc_value[9]
+            qpos[9] = self.g_jointpositions_arc[10] = arc_value[10]
+            qpos[10] = self.g_jointpositions_arc[11] = arc_value[11]
+            qpos[11] = self.g_jointpositions_arc[12] = arc_value[12]
+
+            qpos[12] = self.g_jointpositions_arc[13] = arc_value[13]
+            qpos[13] = self.g_jointpositions_arc[14] = arc_value[14]
+            qpos[14] = self.g_jointpositions_arc[15] = arc_value[15]
+            qpos[15] = self.g_jointpositions_arc[16] = arc_value[16]              
+        # ========== 没有标定数据时使用手动映射 ==========
+        else:
+            # 拇指处理 (与O6相同)
+            qpos[20] = joint_arc[4] * 2.2   # 拇指弯曲
+            qpos[17] = joint_arc[2] * -2.5  # 拇指侧摆
+            # 四指处理
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+            # self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+        # ========== 应用电机约束 ==========
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        self.g_jointpositions = self._apply_motor_constraints(self.g_jointpositions)
+        # ========== 应用平滑滤波 ==========
+        self.g_jointpositions = self._apply_smooth(self.g_jointpositions)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=20, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None    # 五指张开标定值 (对应255)
+        self.calibrationfistpose = None    # 握拳标定值 (对应0)
+        self.calibrationopose = None       # O型标定值 (对应中间值)
+        self.glove_version = 'v2'
+        
+        # ========== 平滑滤波参数 ==========
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5  # 平滑系数：越小越平滑，范围 0.05-0.3
+        self.smooth_positions = [255.0] * length  # 平滑后的位置（浮点）
+        self.max_step = 20  # 每帧最大变化量，防止跳变
+
+        # 目标机械手预设姿势，数值从URDF获取数据集，
+        # 张开手的时候对应最小角度，
+        # 握拳的时候对应最大角度
+        # O型手势的时候，用工具驱动URDF去驱动目标机械手达到期望姿势，也可以调整这些参数使得实物更加达到期望角度
+        # 其他手势也类似，也可以增加多个手势来实现多模态的映射器（后期陆续开发）
+        self.robot_original = ROBOT_ORIGINAL_LEFT
+        self.robot_opose = ROBOT_OPOSE_LEFT
+        self.robot_fist = ROBOT_FIST_LEFT
+
+        self.robot_fist[0] = 0.3 # 拇指旋转锁死在最大0.2，高于0.2的属于无用区间
+        # self.robot_fist[1] = 1.5 # 拇指侧摆锁死在最大1.2，高于1.2的属于无用区间
+
+        # 这里可以额外对self.robot_fist的非期望值进行修正，
+        # 由于机械手达到最大值，存在非期望值的区域，在这里可以进行修正，
+        # 同样也需要URDF驱动工具包去做这个事情
+
+
+        # 映射器（v2.8.0专属），具体介绍参考l6_config.py文件
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(FINGER_CONFIGS, MAPPING_ORDER, is_debug=is_debug)
+
+        # 设置动态权重配置（v2.8.2新增）
+        for config_name, config in FINGER_CONFIGS.items():
+            if config.get('dynamic_weight'):
+                self.multi_state_mapper.set_dynamic_weight_config(config_name, config['dynamic_weight'])
+
+        # 电机输出约束
+        self.motor_constraints = MOTOR_CONSTRAINTS['left']
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+
+        if version_key == self.glove_version:
+            return
+
+        self.glove_version = version_key
+
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def initialize_mapper(self) -> bool:
+        """
+        初始化映射器
+
+        将三种人手标定数据和三种机械手标定数据加载到映射器中
+        分别是original,opose,fist
+
+        人手是glove_前缀,机械手是robot_前缀
+        """
+        # 侧摆部分预处理
+        for i in [5, 9, 13, 17]:
+            self.calibrationoriginal[i] = self.calibrationopose[i] - 0.1
+            self.calibrationfistpose[i] = self.calibrationopose[i] + 0.1
+
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+
+        self.multi_state_mapper.set_state_order(MULTI_SEGMENT_CONFIG['states'])
+
+        state_info = self.multi_state_mapper.get_state_info()
+
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            return data.tolist()
+        else:
+            return list(data)
+
+    def _apply_motor_constraints(self, positions):
+        """应用电机输出约束"""
+        if not hasattr(self, 'motor_constraints') or self.motor_constraints is None:
+            return positions
+        result = []
+        for i, pos in enumerate(positions):
+            if i < len(self.motor_constraints) and self.motor_constraints[i].get('enabled', False):
+                result.append(max(self.motor_constraints[i]['min'], min(pos, self.motor_constraints[i]['max'])))
+            else:
+                result.append(pos)
+        return result
+
+    # V2.8.0 本函数作废
+    # def _linear_map_diff(self, current_diff, fist_diff, extend_ratio=1.2):
+    #     """
+    #     基于差值的线性映射到0-255
+
+    #     注意: 传入joint_update的是差值 (当前值 - 张开值)
+
+    #     参数:
+    #         current_diff: 当前传感器差值 (当前值 - 张开值)
+    #         fist_diff: 握拳时的差值 (握拳值 - 张开值)
+    #         extend_ratio: 缩放比例，>1.0 使映射更容易到达0/255边界
+
+    #     映射逻辑：
+    #         - 差值为0（张开）→ 255
+    #         - 差值为fist_diff（握拳）→ 0
+    #     """
+    #     if abs(fist_diff) < 0.01:
+    #         return 128  # 变化太小，返回中值
+        
+    #     # 缩小fist_diff使得更容易到达0边界
+    #     effective_fist_diff = fist_diff / extend_ratio
+        
+    #     # 计算比例: 差值0→比例0, 差值fist_diff→比例1
+    #     ratio = current_diff / effective_fist_diff
+    #     ratio = max(0.0, min(1.0, ratio))  # 限制在0-1之间
+        
+    #     # 映射: 比例0→255, 比例1→0
+    #     return int((1 - ratio) * 255)
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        右手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            # arc_value = ROBOT_OPOSE_LEFT
+            qpos[16] = self.g_jointpositions_arc[0] = arc_value[0] 
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[1]
+            qpos[18] = self.g_jointpositions_arc[2] = arc_value[2]
+            qpos[19] = self.g_jointpositions_arc[3] = arc_value[3]
+            
+            qpos[0] = self.g_jointpositions_arc[5] = arc_value[5] * 3
+            qpos[1] = self.g_jointpositions_arc[6] = arc_value[6]
+            qpos[2] = self.g_jointpositions_arc[7] = arc_value[7]
+            qpos[3] = self.g_jointpositions_arc[8] = arc_value[8]
+
+            qpos[4] = self.g_jointpositions_arc[17] = arc_value[17]
+            qpos[5] = self.g_jointpositions_arc[18] = arc_value[18]
+            qpos[6] = self.g_jointpositions_arc[19] = arc_value[19]
+            qpos[7] = self.g_jointpositions_arc[4] = arc_value[20]
+
+            qpos[8] = self.g_jointpositions_arc[9] = arc_value[9]
+            qpos[9] = self.g_jointpositions_arc[10] = arc_value[10]
+            qpos[10] = self.g_jointpositions_arc[11] = arc_value[11]
+            qpos[11] = self.g_jointpositions_arc[12] = arc_value[12]
+
+            qpos[12] = self.g_jointpositions_arc[13] = arc_value[13]
+            qpos[13] = self.g_jointpositions_arc[14] = arc_value[14]
+            qpos[14] = self.g_jointpositions_arc[15] = arc_value[15]
+            qpos[15] = self.g_jointpositions_arc[16] = arc_value[16]              
+        # ========== 没有标定数据时使用手动映射 ==========
+        else:
+            # 拇指处理 (与O6相同)
+            qpos[20] = joint_arc[4] * 2.2   # 拇指弯曲
+            qpos[17] = joint_arc[2] * -2.5  # 拇指侧摆
+            # 四指处理
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+            # self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        
+        # ========== 应用电机约束 ==========
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+        self.g_jointpositions = self._apply_motor_constraints(self.g_jointpositions)
+        # ========== 应用平滑滤波 ==========
+        self.g_jointpositions = self._apply_smooth(self.g_jointpositions)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l6.py
new file mode 100644
index 0000000..866d5a7
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l6.py
@@ -0,0 +1,495 @@
+"""
+LinkerForce L6 手型映射模块 - ROS2版本
+与ROS1 L6版本保持一致，支持基于标定数据的精确映射
+v2.8.0升级了映射器算法
+"""
+import numpy as np
+import copy
+from linkerhand.handcore import HandCore
+from ..config.l6_config import FINGER_CONFIGS, MAPPING_ORDER, ROBOT_OPOSE_RIGHT, ROBOT_OPOSE_LEFT, ROBOT_ORIGINAL_RIGHT, ROBOT_ORIGINAL_LEFT, ROBOT_FIST_RIGHT, ROBOT_FIST_LEFT, MULTI_SEGMENT_CONFIG, MULTI_SEGMENT_CONFIG_FROZEN, MOTOR_CONSTRAINTS
+from typing import List
+from linkerhand.handcoreex import DynamicWeightMultiStateLinearMapper,MultiStateLinearMapper
+
+
+def _resolve_version_config(configs: dict, version: str) -> dict:
+    """
+    解析版本配置，将字典格式的 weights/reverse_motion 转换为具体值
+    """
+    resolved = copy.deepcopy(configs)
+    for finger_name, config in resolved.items():
+        if 'weights' in config and isinstance(config['weights'], dict):
+            config['weights'] = config['weights'].get(version, config['weights'].get('v2', [0.5, 0, 0.5]))
+        if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+            config['reverse_motion'] = config['reverse_motion'].get(version, config['reverse_motion'].get('v2', False))
+    return resolved
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None
+        self.calibrationfistpose = None
+        self.calibrationopose = None
+        self.glove_version = 'v2'
+        
+        # ========== 平滑滤波参数 ==========
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5  # 平滑系数：越小越平滑，范围 0.05-0.3
+        self.smooth_positions = [255.0] * length  # 平滑后的位置（浮点）
+        self.max_step = 20  # 每帧最大变化量，防止跳变
+
+        # 目标机械手预设姿势，数值从URDF获取数据集，
+        # 张开手的时候对应最小角度，
+        # 握拳的时候对应最大角度
+        # O型手势的时候，用工具驱动URDF去驱动目标机械手达到期望姿势，也可以调整这些参数使得实物更加达到期望角度
+        # 其他手势也类似，也可以增加多个手势来实现多模态的映射器（后期陆续开发）
+        self.robot_original = ROBOT_ORIGINAL_RIGHT
+        self.robot_opose = ROBOT_OPOSE_RIGHT
+        self.robot_fist = ROBOT_FIST_RIGHT
+
+        # 映射器（v2.8.0专属），具体介绍参考l6_config.py文件
+        finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
+
+        # 电机约束配置
+        self.motor_constraints = MOTOR_CONSTRAINTS['right']
+
+    def initialize_mapper(self) -> bool:
+        """
+        初始化映射器
+
+        将三种人手标定数据和三种机械手标定数据加载到映射器中
+        分别是original,opose,fist
+
+        人手是glove_前缀,机械手是robot_前缀
+        """
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+        self.multi_state_mapper.set_state_order(list(MULTI_SEGMENT_CONFIG_FROZEN))
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+        
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+        
+        if version_key == self.glove_version:
+            return
+            
+        self.glove_version = version_key
+        
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+            
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            print(111)
+            return data.tolist()
+        else:
+            return list(data)
+
+    # V2.8.0 本函数作废
+    # def _linear_map_diff(self, current_diff, fist_diff, extend_ratio=1.2):
+    #     """
+    #     基于差值的线性映射到0-255
+        
+    #     注意: 传入joint_update的是差值 (当前值 - 张开值)
+        
+    #     参数:
+    #         current_diff: 当前传感器差值 (当前值 - 张开值)
+    #         fist_diff: 握拳时的差值 (握拳值 - 张开值)
+    #         extend_ratio: 缩放比例，>1.0 使映射更容易到达0/255边界
+        
+    #     映射逻辑：
+    #         - 差值为0（张开）→ 255
+    #         - 差值为fist_diff（握拳）→ 0
+    #     """
+    #     if abs(fist_diff) < 0.01:
+    #         return 128  # 变化太小，返回中值
+        
+    #     # 缩小fist_diff使得更容易到达0边界
+    #     effective_fist_diff = fist_diff / extend_ratio
+        
+    #     # 计算比例: 差值0→比例0, 差值fist_diff→比例1
+    #     ratio = current_diff / effective_fist_diff
+    #     ratio = max(0.0, min(1.0, ratio))  # 限制在0-1之间
+        
+    #     # 映射: 比例0→255, 比例1→0
+    #     return int((1 - ratio) * 255)
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        右手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        # info = self.multi_state_mapper.get_mapping_info()
+        # for finger, data in info.items():
+        #     print(f"{finger}: 扩展映射={data['has_extended_mapping']}, "
+        #         f"缩放={data['scale_factor']:.1f}, "
+        #         f"最大角度={data['max_angle']:.3f}rad")
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None \
+            and self.calibrationfistpose is not None \
+            and self.calibrationopose is not None:
+            # for i in range(20):
+            #     self.multi_state_mapper.debug_value[i] = joint_arc[i]
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            # arc_value = ROBOT_OPOSE_RIGHT
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+            qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+            qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+            qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+            qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+            qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]                
+        # ========== 没有标定数据时使用手动映射 ==========
+        else:
+            # 拇指处理 (与O6相同)
+            qpos[20] = joint_arc[4] * 2.2   # 拇指弯曲
+            qpos[17] = joint_arc[2] * -2.5  # 拇指侧摆
+            # 四指处理
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+            self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        
+        # ========== 应用平滑滤波 ==========
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        self._apply_motor_constraints()
+        self.g_jointpositions = self._apply_smooth(self.g_jointpositions)
+
+    def _apply_motor_constraints(self):
+        """对 g_jointpositions (电机值) 应用约束"""
+        for i, constraint in enumerate(self.motor_constraints):
+            if constraint.get('enabled', False):
+                min_val = constraint.get('min', 0)
+                max_val = constraint.get('max', 255)
+                self.g_jointpositions[i] = int(max(min_val, min(max_val, self.g_jointpositions[i])))
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None
+        self.calibrationfistpose = None
+        self.calibrationopose = None
+        self.glove_version = 'v2'
+        
+        # ========== 平滑滤波参数 ==========
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5  # 平滑系数：越小越平滑，范围 0.05-0.3
+        self.smooth_positions = [255.0] * length  # 平滑后的位置（浮点）
+        self.max_step = 20  # 每帧最大变化量，防止跳变
+
+        # 目标机械手预设姿势，数值从URDF获取数据集，
+        # 张开手的时候对应最小角度，
+        # 握拳的时候对应最大角度
+        # O型手势的时候，用工具驱动URDF去驱动目标机械手达到期望姿势，也可以调整这些参数使得实物更加达到期望角度
+        # 其他手势也类似，也可以增加多个手势来实现多模态的映射器（后期陆续开发）
+        self.robot_original = ROBOT_ORIGINAL_LEFT
+        self.robot_opose = ROBOT_OPOSE_LEFT
+        self.robot_fist = ROBOT_FIST_LEFT
+
+        # 映射器（v2.8.0专属），具体介绍参考l6_config.py文件
+        finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
+
+        # 电机约束配置
+        self.motor_constraints = MOTOR_CONSTRAINTS['left']
+
+    def initialize_mapper(self) -> bool:
+        """
+        初始化映射器
+
+        将三种人手标定数据和三种机械手标定数据加载到映射器中
+        分别是original,opose,fist
+
+        人手是glove_前缀,机械手是robot_前缀
+        """
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+        self.multi_state_mapper.set_state_order(list(MULTI_SEGMENT_CONFIG_FROZEN))
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+        
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+        
+        if version_key == self.glove_version:
+            return
+            
+        self.glove_version = version_key
+        
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+            
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def _to_list(self, data):
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            print(111)
+            return data.tolist()
+        else:
+            return list(data)
+
+    # V2.8.0 本函数作废
+    # def _linear_map_diff(self, current_diff, fist_diff, extend_ratio=1.2):
+    #     """
+    #     基于差值的线性映射到0-255
+        
+    #     注意: 传入joint_update的是差值 (当前值 - 张开值)
+        
+    #     参数:
+    #         current_diff: 当前传感器差值 (当前值 - 张开值)
+    #         fist_diff: 握拳时的差值 (握拳值 - 张开值)
+    #         extend_ratio: 缩放比例，>1.0 使映射更容易到达0/255边界
+        
+    #     映射逻辑：
+    #         - 差值为0（张开）→ 255
+    #         - 差值为fist_diff（握拳）→ 0
+    #     """
+    #     if abs(fist_diff) < 0.01:
+    #         return 128  # 变化太小，返回中值
+        
+    #     # 缩小fist_diff使得更容易到达0边界
+    #     effective_fist_diff = fist_diff / extend_ratio
+        
+    #     # 计算比例: 差值0→比例0, 差值fist_diff→比例1
+    #     ratio = current_diff / effective_fist_diff
+    #     ratio = max(0.0, min(1.0, ratio))  # 限制在0-1之间
+        
+    #     # 映射: 比例0→255, 比例1→0
+    #     return int((1 - ratio) * 255)
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        左手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        
+        # ========== 使用映射器进行精确映射 ==========
+        # for finger, data in info.items():
+        #     print(f"{finger}: 扩展映射={data['has_extended_mapping']}, "
+        #         f"缩放={data['scale_factor']:.1f}, "
+        #         f"最大角度={data['max_angle']:.3f}rad")
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+            # for i in range(20):
+            #     self.multi_state_mapper.debug_value[i] = joint_arc[i]
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+            qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+            qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+            qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+            qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+            qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]                
+        # ========== 没有标定数据时使用手动映射 ==========
+        else:
+            # 拇指处理 (与O6相同)
+            qpos[20] = joint_arc[4] * 2.2   # 拇指弯曲
+            qpos[17] = joint_arc[2] * -2.5  # 拇指侧摆
+            # 四指处理
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+            self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+        
+        # ========== 应用平滑滤波 ==========
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+        self._apply_motor_constraints()
+        # self.g_jointpositions = self._apply_smooth(self.g_jointpositions)
+
+    def _apply_motor_constraints(self):
+        """对 g_jointpositions (电机值) 应用约束"""
+        for i, constraint in enumerate(self.motor_constraints):
+            if constraint.get('enabled', False):
+                min_val = constraint.get('min', 0)
+                max_val = constraint.get('max', 255)
+                self.g_jointpositions[i] = int(max(min_val, min(max_val, self.g_jointpositions[i])))
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l7.py
new file mode 100644
index 0000000..a3710c0
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_l7.py
@@ -0,0 +1,434 @@
+"""
+LinkerForce L7 手型映射模块 - ROS2版本
+"""
+import numpy as np
+import copy
+from linkerhand.handcore import HandCore
+from ..config.o7_config import FINGER_CONFIGS, MAPPING_ORDER, ROBOT_OPOSE_RIGHT, ROBOT_OPOSE_LEFT, ROBOT_ORIGINAL_RIGHT, ROBOT_ORIGINAL_LEFT, ROBOT_FIST_RIGHT, ROBOT_FIST_LEFT, MULTI_SEGMENT_CONFIG, MULTI_SEGMENT_CONFIG_FROZEN, MOTOR_CONSTRAINTS
+from typing import List
+from linkerhand.handcoreex import DynamicWeightMultiStateLinearMapper,MultiStateLinearMapper
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=7, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None    # 五指张开标定值 (对应255)
+        self.calibrationfistpose = None    # 握拳标定值 (对应0)
+        self.calibrationopose = None       # O型标定值 (对应中间值)
+        self.glove_version = 'v2'
+        
+        # ========== 平滑滤波参数 ==========
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5  # 平滑系数：越小越平滑，范围 0.05-0.3
+        self.smooth_positions = [255.0] * length  # 平滑后的位置（浮点）
+        self.max_step = 20  # 每帧最大变化量，防止跳变
+
+        # 目标机械手预设姿势，数值从URDF获取数据集，
+        # 张开手的时候对应最小角度，
+        # 握拳的时候对应最大角度
+        # O型手势的时候，用工具驱动URDF去驱动目标机械手达到期望姿势，也可以调整这些参数使得实物更加达到期望角度
+        # 其他手势也类似，也可以增加多个手势来实现多模态的映射器（后期陆续开发）
+        self.robot_original = ROBOT_ORIGINAL_RIGHT
+        self.robot_opose = ROBOT_OPOSE_RIGHT
+        self.robot_fist = ROBOT_FIST_RIGHT
+        self.robot_fist[0] = 0.8
+
+        # 这里可以额外对self.robot_fist的非期望值进行修正，
+        # 由于机械手达到最大值，存在非期望值的区域，在这里可以进行修正，
+        # 同样也需要URDF驱动工具包去做这个事情
+
+
+        # 映射器（v2.8.0专属），具体介绍参考l6_config.py文件
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(FINGER_CONFIGS, MAPPING_ORDER, is_debug=is_debug)
+
+        # 设置动态权重配置（v2.8.2新增）
+        for config_name, config in FINGER_CONFIGS.items():
+            if config.get('dynamic_weight'):
+                self.multi_state_mapper.set_dynamic_weight_config(config_name, config['dynamic_weight'])
+
+        # 电机输出约束
+        self.motor_constraints = MOTOR_CONSTRAINTS['right']
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+
+        if version_key == self.glove_version:
+            return
+
+        self.glove_version = version_key
+
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+
+    def initialize_mapper(self) -> bool:
+        """初始化映射器"""
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+
+        self.multi_state_mapper.set_state_order(list(MULTI_SEGMENT_CONFIG_FROZEN))
+
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            return data.tolist()
+        else:
+            return list(data)
+
+    def _apply_motor_constraints(self, positions):
+        """应用电机输出约束"""
+        if not hasattr(self, 'motor_constraints') or self.motor_constraints is None:
+            return positions
+        result = []
+        for i, pos in enumerate(positions):
+            if i < len(self.motor_constraints) and self.motor_constraints[i].get('enabled', False):
+                result.append(max(self.motor_constraints[i]['min'], min(pos, self.motor_constraints[i]['max'])))
+            else:
+                result.append(pos)
+        return result
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        右手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+        
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            # arc_value = ROBOT_OPOSE_RIGHT
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[1]
+            qpos[20] = self.g_jointpositions_arc[0] = arc_value[2]
+            qpos[16] = self.g_jointpositions_arc[6] = arc_value[0]
+
+            qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+
+            qpos[9] = self.g_jointpositions_arc[3] = arc_value[4]
+
+            qpos[13] = self.g_jointpositions_arc[4] = arc_value[5]
+
+            qpos[5] = self.g_jointpositions_arc[5] = arc_value[6]
+        else:
+            # 拇指处理
+            qpos[16] = joint_arc[1] * 1.2
+            qpos[17] = joint_arc[0] * -2 + joint_arc[1] * 1.2
+            qpos[20] = joint_arc[4] * 0.5 + joint_arc[2] * 0.8
+    
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+        # ========== 应用电机约束 ==========
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        self.g_jointpositions = self._apply_motor_constraints(self.g_jointpositions)
+        # ========== 应用平滑滤波 ==========
+        self.g_jointpositions = self._apply_smooth(self.g_jointpositions)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+# LeftHand 类类似修正
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=7, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None    # 五指张开标定值 (对应255)
+        self.calibrationfistpose = None    # 握拳标定值 (对应0)
+        self.calibrationopose = None       # O型标定值 (对应中间值)
+        self.glove_version = 'v2'
+
+        # ========== 平滑滤波参数 ==========
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5  # 平滑系数：越小越平滑，范围 0.05-0.3
+        self.smooth_positions = [255.0] * length  # 平滑后的位置（浮点）
+        self.max_step = 20  # 每帧最大变化量，防止跳变
+
+        # 目标机械手预设姿势，数值从URDF获取数据集，
+        # 张开手的时候对应最小角度，
+        # 握拳的时候对应最大角度
+        # O型手势的时候，用工具驱动URDF去驱动目标机械手达到期望姿势，也可以调整这些参数使得实物更加达到期望角度
+        # 其他手势也类似，也可以增加多个手势来实现多模态的映射器（后期陆续开发）
+        self.robot_original = ROBOT_ORIGINAL_LEFT
+        self.robot_opose = ROBOT_OPOSE_LEFT
+        self.robot_fist = ROBOT_FIST_LEFT
+        self.robot_fist[0] = 0.8
+
+        # 这里可以额外对self.robot_fist的非期望值进行修正，
+        # 由于机械手达到最大值，存在非期望值的区域，在这里可以进行修正，
+        # 同样也需要URDF驱动工具包去做这个事情
+
+
+        # 映射器（v2.8.0专属），具体介绍参考l6_config.py文件
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(FINGER_CONFIGS, MAPPING_ORDER, is_debug=is_debug)
+
+        # 设置动态权重配置（v2.8.2新增）
+        for config_name, config in FINGER_CONFIGS.items():
+            if config.get('dynamic_weight'):
+                self.multi_state_mapper.set_dynamic_weight_config(config_name, config['dynamic_weight'])
+
+        # 电机输出约束
+        self.motor_constraints = MOTOR_CONSTRAINTS['left']
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+        
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+        
+        if version_key == self.glove_version:
+            return
+            
+        self.glove_version = version_key
+        
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+            
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def initialize_mapper(self) -> bool:
+        """初始化映射器"""
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+
+        self.multi_state_mapper.set_state_order(list(MULTI_SEGMENT_CONFIG_FROZEN))
+
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            return data.tolist()
+        else:
+            return list(data)
+
+    def _apply_motor_constraints(self, positions):
+        """应用电机输出约束"""
+        if not hasattr(self, 'motor_constraints') or self.motor_constraints is None:
+            return positions
+        result = []
+        for i, pos in enumerate(positions):
+            if i < len(self.motor_constraints) and self.motor_constraints[i].get('enabled', False):
+                result.append(max(self.motor_constraints[i]['min'], min(pos, self.motor_constraints[i]['max'])))
+            else:
+                result.append(pos)
+        return result
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        右手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+        
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            # arc_value = ROBOT_OPOSE_RIGHT
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[1]
+            qpos[20] = self.g_jointpositions_arc[0] = arc_value[2]
+            qpos[16] = self.g_jointpositions_arc[6] = arc_value[0]
+
+            qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+
+            qpos[9] = self.g_jointpositions_arc[3] = arc_value[4]
+
+            qpos[13] = self.g_jointpositions_arc[4] = arc_value[5]
+
+            qpos[5] = self.g_jointpositions_arc[5] = arc_value[6]
+        else:
+            # 拇指处理
+            qpos[16] = joint_arc[1] * 1.2
+            qpos[17] = joint_arc[0] * -2 + joint_arc[1] * 1.2
+            qpos[20] = joint_arc[4] * 0.5 + joint_arc[2] * 0.8
+    
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+        # ========== 应用电机约束 ==========
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        self.g_jointpositions = self._apply_motor_constraints(self.g_jointpositions)
+        # ========== 应用平滑滤波 ==========
+        self.g_jointpositions = self._apply_smooth(self.g_jointpositions)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_o6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_o6.py
new file mode 100644
index 0000000..042d84a
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_o6.py
@@ -0,0 +1,468 @@
+"""
+LinkerForce O6 手型映射模块 - ROS2版本
+与ROS1 O6版本保持一致，支持基于标定数据的精确映射
+v2.8.0升级了映射器算法
+"""
+import numpy as np
+import copy
+from linkerhand.handcore import HandCore
+from ..config.o6_config import FINGER_CONFIGS, MAPPING_ORDER, ROBOT_OPOSE_RIGHT, ROBOT_OPOSE_LEFT, ROBOT_ORIGINAL_RIGHT, ROBOT_ORIGINAL_LEFT, ROBOT_FIST_RIGHT, ROBOT_FIST_LEFT, MULTI_SEGMENT_CONFIG, MOTOR_CONSTRAINTS
+from typing import List
+from linkerhand.handcoreex import DynamicWeightMultiStateLinearMapper,MultiStateLinearMapper
+
+
+def _resolve_version_config(configs: dict, version: str) -> dict:
+    """
+    解析版本配置，将字典格式的 weights/reverse_motion 转换为具体值
+    """
+    resolved = copy.deepcopy(configs)
+    for finger_name, config in resolved.items():
+        if 'weights' in config and isinstance(config['weights'], dict):
+            config['weights'] = config['weights'].get(version, config['weights'].get('v2', [0.5, 0, 0.5]))
+        if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+            config['reverse_motion'] = config['reverse_motion'].get(version, config['reverse_motion'].get('v2', False))
+    return resolved
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None
+        self.calibrationfistpose = None
+        self.calibrationopose = None
+        self.glove_version = 'v2'
+        
+        # ========== 平滑滤波参数 ==========
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5  # 平滑系数：越小越平滑，范围 0.05-0.3
+        self.smooth_positions = [255.0] * length  # 平滑后的位置（浮点）
+        self.max_step = 20  # 每帧最大变化量，防止跳变
+
+        # 目标机械手预设姿势，数值从URDF获取数据集，
+        # 张开手的时候对应最小角度，
+        # 握拳的时候对应最大角度
+        # O型手势的时候，用工具驱动URDF去驱动目标机械手达到期望姿势，也可以调整这些参数使得实物更加达到期望角度
+        # 其他手势也类似，也可以增加多个手势来实现多模态的映射器（后期陆续开发）
+        self.robot_original = ROBOT_ORIGINAL_RIGHT
+        self.robot_opose = ROBOT_OPOSE_RIGHT
+        self.robot_fist = ROBOT_FIST_RIGHT
+
+        # self.robot_fist[0] = 1.5 # 拇指旋转锁死在最大0.2，高于0.2的属于无用区间
+        self.robot_fist[0] = 1.1 # 拇指侧摆锁死在最大1.2，高于1.2的属于无用区间
+        # 这里可以额外对self.robot_fist的非期望值进行修正，
+        # 由于机械手达到最大值，存在非期望值的区域，在这里可以进行修正，
+        # 同样也需要URDF驱动工具包去做这个事情
+
+# 映射器（v2.8.0专属），具体介绍参考l6_config.py文件
+        finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
+
+        # 电机约束配置
+        self.motor_constraints = MOTOR_CONSTRAINTS['right']
+
+    def _apply_motor_constraints(self):
+        """对 g_jointpositions (电机值) 应用约束"""
+        for i, constraint in enumerate(self.motor_constraints):
+            if constraint.get('enabled', False):
+                min_val = constraint.get('min', 0)
+                max_val = constraint.get('max', 255)
+                self.g_jointpositions[i] = int(max(min_val, min(max_val, self.g_jointpositions[i])))
+
+    def initialize_mapper(self) -> bool:
+        """
+        初始化映射器
+
+        将三种人手标定数据和三种机械手标定数据加载到映射器中
+        分别是original,opose,fist
+
+        人手是glove_前缀,机械手是robot_前缀
+        """
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+        self.multi_state_mapper.set_state_order(MULTI_SEGMENT_CONFIG['states'])
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+        
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+        
+        if version_key == self.glove_version:
+            return
+            
+        self.glove_version = version_key
+        
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+            
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            print(111)
+            return data.tolist()
+        else:
+            return list(data)
+
+    # V2.8.0 本函数作废
+    # def _linear_map_diff(self, current_diff, fist_diff, extend_ratio=1.2):
+    #     """
+    #     基于差值的线性映射到0-255
+        
+    #     注意: 传入joint_update的是差值 (当前值 - 张开值)
+        
+    #     参数:
+    #         current_diff: 当前传感器差值 (当前值 - 张开值)
+    #         fist_diff: 握拳时的差值 (握拳值 - 张开值)
+    #         extend_ratio: 缩放比例，>1.0 使映射更容易到达0/255边界
+        
+    #     映射逻辑：
+    #         - 差值为0（张开）→ 255
+    #         - 差值为fist_diff（握拳）→ 0
+    #     """
+    #     if abs(fist_diff) < 0.01:
+    #         return 128  # 变化太小，返回中值
+        
+    #     # 缩小fist_diff使得更容易到达0边界
+    #     effective_fist_diff = fist_diff / extend_ratio
+        
+    #     # 计算比例: 差值0→比例0, 差值fist_diff→比例1
+    #     ratio = current_diff / effective_fist_diff
+    #     ratio = max(0.0, min(1.0, ratio))  # 限制在0-1之间
+        
+    #     # 映射: 比例0→255, 比例1→0
+    #     return int((1 - ratio) * 255)
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        """
+        右手映射 - 基于标定数据和预期机械手动作的映射器完成
+        """
+        qpos = np.zeros(25)
+        # info = self.multi_state_mapper.get_mapping_info()
+        # for finger, data in info.items():
+        #     print(f"{finger}: 扩展映射={data['has_extended_mapping']}, "
+        #         f"缩放={data['scale_factor']:.1f}, "
+        #         f"最大角度={data['max_angle']:.3f}rad")
+        # ========== 使用映射器进行精确映射 ==========
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+            # for i in range(20):
+            #     self.multi_state_mapper.debug_value[i] = joint_arc[i]
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            # arc_value = ROBOT_OPOSE_RIGHT
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+            qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+            qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+            qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+            qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+            qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]                
+        # ========== 没有标定数据时使用手动映射 ==========
+        else:
+            # 拇指处理 (与O6相同)
+            qpos[20] = joint_arc[4] * 2.2   # 拇指弯曲
+            qpos[17] = joint_arc[2] * -2.5  # 拇指侧摆
+            # 四指处理
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+            self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        
+        # ========== 应用平滑滤波 ==========
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        self._apply_motor_constraints()
+        self.g_jointpositions = self._apply_smooth(self.g_jointpositions)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6, is_debug: bool = False):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationoriginal = None
+        self.calibrationfistpose = None
+        self.calibrationopose = None
+        self.glove_version = 'v2'
+        
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5
+        self.smooth_positions = [255.0] * length
+        self.max_step = 20
+
+        self.robot_original = ROBOT_ORIGINAL_LEFT
+        self.robot_opose = ROBOT_OPOSE_LEFT
+        self.robot_fist = ROBOT_FIST_LEFT
+
+        finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
+        self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
+
+        # 电机约束配置
+        self.motor_constraints = MOTOR_CONSTRAINTS['left']
+
+    def _apply_motor_constraints(self):
+        """对 g_jointpositions (电机值) 应用约束"""
+        for i, constraint in enumerate(self.motor_constraints):
+            if constraint.get('enabled', False):
+                min_val = constraint.get('min', 0)
+                max_val = constraint.get('max', 255)
+                self.g_jointpositions[i] = int(max(min_val, min(max_val, self.g_jointpositions[i])))
+
+    def initialize_mapper(self) -> bool:
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+
+        self.multi_state_mapper.set_state_order(MULTI_SEGMENT_CONFIG['states'])
+
+    def set_glove_version(self, version: str):
+        if not version:
+            return
+        
+        major_version = version.split('.')[0]
+        version_key = f'v{major_version}'
+        
+        if version_key == self.glove_version:
+            return
+            
+        self.glove_version = version_key
+        
+        for finger_name, config in FINGER_CONFIGS.items():
+            if 'weights' in config and isinstance(config['weights'], dict):
+                if version_key in config['weights']:
+                    self.multi_state_mapper.finger_configs[finger_name]['weights'] = config['weights'][version_key]
+            
+            if 'reverse_motion' in config and isinstance(config['reverse_motion'], dict):
+                if version_key in config['reverse_motion']:
+                    self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
+
+    def _to_list(self, data):
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            print(111)
+            return data.tolist()
+        else:
+            return list(data)
+
+    # V2.8.0 本函数作废
+    # def _linear_map_diff(self, current_diff, fist_diff, extend_ratio=1.2):
+    #     """
+    #     基于差值的线性映射到0-255
+        
+    #     注意: 传入joint_update的是差值 (当前值 - 张开值)
+        
+    #     参数:
+    #         current_diff: 当前传感器差值 (当前值 - 张开值)
+    #         fist_diff: 握拳时的差值 (握拳值 - 张开值)
+    #         extend_ratio: 缩放比例，>1.0 使映射更容易到达0/255边界
+        
+    #     映射逻辑：
+    #         - 差值为0（张开）→ 255
+    #         - 差值为fist_diff（握拳）→ 0
+    #     """
+    #     if abs(fist_diff) < 0.01:
+    #         return 128  # 变化太小，返回中值
+        
+    #     # 缩小fist_diff使得更容易到达0边界
+    #     effective_fist_diff = fist_diff / extend_ratio
+        
+    #     # 计算比例: 差值0→比例0, 差值fist_diff→比例1
+    #     ratio = current_diff / effective_fist_diff
+    #     ratio = max(0.0, min(1.0, ratio))  # 限制在0-1之间
+        
+    #     # 映射: 比例0→255, 比例1→0
+    #     return int((1 - ratio) * 255)
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        if self.calibrationoriginal is not None and self.calibrationfistpose is not None and self.calibrationopose is not None:
+            arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+            qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+            qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+            qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+            qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+            qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+            qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]
+        else:
+            qpos[20] = joint_arc[4] * 2.2
+            qpos[17] = joint_arc[2] * -2.5
+            qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+            qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+            qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+            qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+            self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+        
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+        self._apply_motor_constraints()
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py
new file mode 100644
index 0000000..8dac21c
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py
@@ -0,0 +1,1289 @@
+import time
+import sys
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from std_msgs.msg import String, Int32MultiArray, Header, Float32MultiArray, MultiArrayLayout, MultiArrayDimension
+from pathlib import Path
+
+# 将项目根目录放在最前面
+# 强制使用项目本地的 linkerhand 模块
+_project_root = Path(__file__).absolute().parent.parent.parent
+_project_root_str = str(_project_root)
+
+if _project_root_str in sys.path:
+    sys.path.remove(_project_root_str)
+sys.path.insert(0, _project_root_str)
+
+from linkerhand.linkerforce import ForceSerialReader
+from linkerhand.constants import RobotName, ROBOT_LEN_MAP, HandType
+from linkerhand.handcore import HandCore
+from tqdm import tqdm
+from pathlib import Path
+from colorama import Fore, init
+from datetime import datetime, timedelta
+import threading
+import copy
+import pickle
+import os
+import json
+import sys
+import numpy as np
+import math
+import yaml
+
+
+TMP_FILE_PATH = Path(__file__).parent / "tmp" / "jointangle_data.tmp"
+SAMPLE_FILE_PATH = Path(__file__).parent.parent.parent / "config" / "calibration_sample.yml"
+
+
+class Retarget():
+    def __init__(self, 
+                node,
+                righthand: RobotName, 
+                lefthand: RobotName, 
+                handcore: HandCore,
+                lefthandpubprint: bool, 
+                righthandpubprint: bool,
+                calibration: bool = False,
+                auto_detect: bool = True,
+                isgetdebug: bool = True,
+                baseconfig: dict = None,
+                cmd_ports: list = None,
+                cmd_baudrate: int = None,
+                cmd_auto_scan: bool = None):
+        """
+        初始化 LinkerForce Retarget 模块 (ROS1 版本)
+        
+        Args:
+            leftport: 左手串口路径（如 '/dev/ttyUSB0'），auto_detect=True 时可忽略
+            leftbaudrate: 左手波特率
+            rightport: 右手串口路径（如 '/dev/ttyUSB1'），auto_detect=True 时可忽略
+            rightbaudrate: 右手波特率
+            lefthand: 左手机器人类型
+            righthand: 右手机器人类型
+            handcore: HandCore 实例
+            lefthandpubprint: 是否打印左手调试信息
+            righthandpubprint: 是否打印右手调试信息
+            calibration: True=强制标定, False=尝试加载缓存
+            auto_detect: 是否自动检测串口（默认 True）
+            isgetdebug: 是否发布debug测试数据话题（默认False）
+            baseconfig: 基础配置字典
+        """        
+
+        self.node = node
+        self.lefthandtype = lefthand
+        self.righthandtype = righthand
+        self.handcore = handcore
+        self.runing = True
+        self.lefthandpubprint = lefthandpubprint
+        self.righthandpubprint = righthandpubprint
+        self.isdebugpub = isgetdebug
+        self.baseconfig = baseconfig or {}
+        
+        self.show_fist_calibration = self.baseconfig.get('calibration', {}).get('show_fist', True)
+        self.fist_extend_ratio = self.baseconfig.get('calibration', {}).get('fist_extend_ratio', 0.5)
+        
+        # 命令行串口参数（候选列表，系统自动识别左右手）
+        self.cmd_ports = cmd_ports
+        self.cmd_baudrate = cmd_baudrate
+        self.cmd_auto_scan = cmd_auto_scan
+
+        # 根据右手类型初始化
+        mapper_debug = self.baseconfig.get('debug', {}).get('mapper_debug', False)
+        
+        if self.righthandtype == RobotName.o7 \
+            or self.righthandtype == RobotName.l7 \
+            or self.righthandtype == RobotName.o7v1 \
+            or self.righthandtype == RobotName.o7v3:
+            from .hand.linkerforce_l7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand], is_debug=mapper_debug)
+            
+        elif self.righthandtype == RobotName.o6:
+            from .hand.linkerforce_o6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand], is_debug=mapper_debug)
+        elif self.righthandtype == RobotName.l6:
+            from .hand.linkerforce_l6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand], is_debug=mapper_debug)
+        elif self.righthandtype == RobotName.l25 \
+            or self.righthandtype == RobotName.g20:
+            from .hand.linkerforce_g20 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand], is_debug=mapper_debug)
+        elif self.righthandtype == RobotName.l20:
+            from .hand.linkerforce_l20 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand], is_debug=mapper_debug)
+        elif self.righthandtype == RobotName.l10 \
+            or self.righthandtype == RobotName.l10v7 \
+            or self.righthandtype == RobotName.l20lite:
+            from .hand.linkerforce_l10 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand], is_debug=mapper_debug)
+        else:
+            print("未正确定义机械左手对象，请检查支持清单列表!")
+
+        # 根据左手类型初始化
+        if self.lefthandtype == RobotName.o7 \
+            or self.lefthandtype == RobotName.l7 \
+            or self.lefthandtype == RobotName.o7v1 \
+            or self.lefthandtype == RobotName.o7v3:
+            from .hand.linkerforce_l7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand], is_debug=mapper_debug)
+        elif self.lefthandtype == RobotName.o6:
+            from .hand.linkerforce_o6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand], is_debug=mapper_debug)
+        elif self.lefthandtype == RobotName.l6:
+            from .hand.linkerforce_l6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand], is_debug=mapper_debug)
+        elif self.lefthandtype == RobotName.l25 \
+            or self.lefthandtype == RobotName.g20:
+            from .hand.linkerforce_g20 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand], is_debug=mapper_debug)
+        elif self.lefthandtype == RobotName.l20:
+            from .hand.linkerforce_l20 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand], is_debug=mapper_debug)
+        elif self.lefthandtype == RobotName.l10 \
+            or self.lefthandtype == RobotName.l10v7 \
+            or self.lefthandtype == RobotName.l20lite:
+            from .hand.linkerforce_l10 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand], is_debug=mapper_debug)
+        else:
+            print("未正确定义机械右手对象，请检查支持清单列表!")
+
+        self.node.get_logger().info(f"[机械手] 左手型号: {self.lefthandtype.name}, 右手型号: {self.righthandtype.name}")
+
+        # ROS2 发布器
+        self.publisher_r = self.node.create_publisher(
+            JointState,
+            '/cb_right_hand_control_cmd',
+            self.handcore.hand_numjoints_r)
+            
+        self.publisher_l = self.node.create_publisher(
+            JointState,
+            '/cb_left_hand_control_cmd',
+            self.handcore.hand_numjoints_l)
+
+        self.publisher_angle_r = self.node.create_publisher(
+            JointState,
+            '/cb_right_hand_control_angle_cmd',
+            self.handcore.hand_numjoints_r)
+            
+        self.publisher_angle_l = self.node.create_publisher(
+            JointState,
+            '/cb_left_hand_control_angle_cmd',
+            self.handcore.hand_numjoints_l)
+
+        # 创建订阅者，订阅/cb_left_hand_matrix_touch话题
+        self.left_touch_subscription = self.node.create_subscription(
+            String,
+            '/cb_left_hand_matrix_touch',
+            self.touch_left_callback,
+            10  # QoS 队列深度
+        )
+        self.right_touch_subscription = self.node.create_subscription(
+            String,
+            '/cb_right_hand_matrix_touch', 
+            self.touch_right_callback,
+            10  # QoS 队列深度
+        )
+
+
+        if self.isdebugpub:
+            # # ROS1 发布器，触感矩阵转换相关
+            # self.publisher_hand_matrix2int_r = self.node.create_publisher(
+            #     '/cb_right_hand_matrix2int', 
+            #     Int32MultiArray, 
+            #     self.handcore.hand_numjoints_r)
+            
+            # self.publisher_hand_matrix2int_l = self.node.create_publisher(
+            #     '/cb_left_hand_matrix2int', 
+            #     Int32MultiArray, 
+            #     self.handcore.hand_numjoints_l)
+
+
+            self.publisher_hand_debugdata_r = self.node.create_publisher(
+                Float32MultiArray, 
+                '/cb_right_hand_debug', 
+                self.handcore.hand_numjoints_r)
+
+
+            self.publisher_hand_debugdata_l = self.node.create_publisher(
+                Float32MultiArray, 
+                '/cb_left_hand_debug', 
+                self.handcore.hand_numjoints_l)
+
+        # 初始化统计结果
+        self.results = {
+            'left':{},
+            'right':{}
+        } 
+        self.leftforcesendcount = -1
+        self.rightforcesendcount = -1
+
+        # 状态变量
+        self.pubprintcount = 0
+        self.force_reader_left = None
+        self.force_reader_right = None
+        self.calibration = calibration
+        self.leftport = None
+        self.leftbaudrate = None
+        self.rightport = None
+        self.rightbaudrate = None
+        
+        # 强制手套数据源 (none/open/fist/opose)
+        self.force_glove_pose = None
+        self.calibration_cache = None  # 缓存标定数据
+
+        # 力数据线程锁
+        self.forcelock = threading.Lock()
+
+        # 自动标定相关变量
+        self.calibration_data_left = []
+        self.calibration_data_right = []
+        self.calibration_in_progress = False
+        
+        # ========== 调试：映射层跳变检测 ==========
+        self.debug_enabled = True  # 设为 False 关闭调试
+        self.debug_motor_jump_threshold = 20  # 电机值跳变阈值
+        self.debug_last_motor_l = [255] * 6
+        self.debug_last_motor_r = [255] * 6
+        self.debug_last_raw_l = [0.0] * 21
+        self.debug_last_raw_r = [0.0] * 21
+
+
+
+    def touch_left_callback(self, msg):
+        self.process_touch_data(msg.data,'left')   
+           
+    def touch_right_callback(self, msg):
+        self.process_touch_data(msg.data,'right')
+
+    def process_touch_data(self, json_str, hand_type):
+        with self.forcelock:
+            try:
+                data = json.loads(json_str)    
+                self.results[hand_type] = {}
+                # 处理每个手指的矩阵
+                for finger in ['thumb_matrix', 'index_matrix', 'middle_matrix', 'ring_matrix', 'little_matrix']:
+                    matrix = np.array(data[finger])
+                    # 计算接触面积（非零元素数量）
+                    contact_area = np.count_nonzero(matrix)         
+                    # 计算总接触力
+                    total_force = np.sum(matrix)         
+                    # 计算平均接触力（避免除以零）
+                    avg_force = total_force / contact_area if contact_area > 0 else 0
+                    max_force = np.max(matrix) * 4 if contact_area > 0 else 0
+                    if max_force > 500:
+                        max_force = 500
+                    self.results[hand_type][finger] = {
+                        'contact_area': contact_area,
+                        'total_force': total_force,
+                        'avg_force': avg_force,
+                        'max_force': max_force
+                    }
+                
+            except Exception as e:
+                self.node.get_logger().error("Error processing touch data: %s" % str(e))
+                return None
+
+    def linkerforce_init(self):
+        # 从配置读取串口参数
+        serial_config = self.baseconfig.get('serial', {})
+        baudrates = serial_config.get('baudrates', [2000000, 1000000, 921600, 460800])
+        exclude_ports = serial_config.get('exclude_ports', [])
+        serial_debug = serial_config.get('serial_debug', False)
+        config_auto_scan = serial_config.get('auto_scan', False)
+        
+        # 自动扫描开关：命令行参数 > 配置文件 > 默认false
+        auto_scan = self.cmd_auto_scan if self.cmd_auto_scan is not None else config_auto_scan
+        
+        saved_left = serial_config.get('left', {})
+        saved_right = serial_config.get('right', {})
+        
+        # 确定候选端口列表
+        if self.cmd_ports:
+            candidate_ports = self.cmd_ports
+            self.node.get_logger().info(f"使用命令行候选串口: {candidate_ports}")
+        else:
+            candidate_ports = None
+            self.node.get_logger().info(f"使用配置文件串口: 左手={saved_left.get('port')}, 右手={saved_right.get('port')}")
+        
+        # 确定波特率
+        if self.cmd_baudrate:
+            baudrates = [self.cmd_baudrate]
+        
+        self.node.get_logger().info(f"波特率组合: {baudrates}, 自动扫描={auto_scan}, 调试={serial_debug}")
+        
+        # 日志回调函数
+        def serial_logger(level, msg):
+            if level == 'error':
+                self.node.get_logger().error(msg)
+            elif level == 'warn':
+                self.node.get_logger().warn(msg)
+            elif level == 'debug':
+                self.node.get_logger().debug(msg)
+            else:
+                self.node.get_logger().info(msg)
+        
+        # 如果提供了候选端口列表，从中自动检测左右手
+        if candidate_ports:
+            left_found, right_found = self._init_from_candidates(
+                candidate_ports, baudrates, exclude_ports, serial_debug, serial_logger
+            )
+        else:
+            # 使用配置文件的预设端口
+            self.force_reader_left = ForceSerialReader(
+                HandType.left,
+                excludelist=exclude_ports,
+                baudrates=baudrates,
+                isdebug=serial_debug,
+                logger=serial_logger
+            )
+            left_found = self._init_hand(
+                self.force_reader_left, 
+                'Left', 
+                saved_left.get('port'), 
+                saved_left.get('baudrate'),
+                '左手',
+                auto_scan
+            )
+            
+            exclude_right = exclude_ports + ([self.leftport] if left_found else [])
+            self.force_reader_right = ForceSerialReader(
+                HandType.right,
+                excludelist=exclude_right,
+                baudrates=baudrates,
+                isdebug=serial_debug,
+                logger=serial_logger
+            )
+            right_found = self._init_hand(
+                self.force_reader_right, 
+                'Right', 
+                saved_right.get('port') if saved_right.get('port') not in exclude_right else None,
+                saved_right.get('baudrate'),
+                '右手',
+                auto_scan
+            )
+        
+        # 保存检测到的串口配置
+        if left_found or right_found:
+            self._save_serial_to_config(left_found, right_found)
+        
+        time.sleep(1)
+
+        # 标定流程
+        if self.calibration is True:
+            self.calibration = "auto_calibrate"
+            self.node.get_logger().info("强制标定模式：将进行自动标定")
+        else:
+            if self._load_from_tmp() is True:
+                self.node.get_logger().info("已加载缓存标定数据，跳过标定流程")
+                self.calibration = -1
+                self.righthand.initialize_mapper()
+                self.lefthand.initialize_mapper()
+            else:
+                self.calibration = "auto_calibrate"
+                self.node.get_logger().info("未找到有效缓存，将进行自动标定")
+    
+    def _init_from_candidates(self, candidate_ports, baudrates, exclude_ports, serial_debug, serial_logger):
+        """从候选端口列表中自动检测并初始化左右手"""
+        left_found = False
+        right_found = False
+        detected_ports = {}
+        
+        for port in candidate_ports:
+            if port in exclude_ports:
+                continue
+            
+            # 检查端口是否存在
+            if not os.path.exists(port):
+                self.node.get_logger().warn(f"端口不存在: {port}")
+                continue
+            
+            self.node.get_logger().info(f"检测候选端口: {port}")
+            
+            temp_reader = ForceSerialReader(
+                HandType.left,
+                excludelist=[],
+                baudrates=baudrates,
+                isdebug=serial_debug,
+                logger=serial_logger
+            )
+            
+            detected = False
+            for baudrate in baudrates:
+                try:
+                    if temp_reader.openserial(port=port, baudrate=baudrate):
+                        temp_reader.start()
+                        time.sleep(0.1)
+                        temp_reader.serial_port.write(temp_reader.pack_01_data())
+                        
+                        for _ in range(10):
+                            time.sleep(0.1)
+                            if temp_reader.handtype:
+                                detected_ports[port] = (temp_reader.handtype, baudrate, temp_reader.version)
+                                self.node.get_logger().info(f"检测到 {port}: {temp_reader.handtype} @ {baudrate}")
+                                detected = True
+                                break
+                        
+                        if detected:
+                            break
+                except Exception as e:
+                    self.node.get_logger().debug(f"端口 {port} @ {baudrate} 检测失败: {e}")
+                finally:
+                    temp_reader.stop()
+            
+            if not detected:
+                self.node.get_logger().warn(f"端口 {port} 未能识别设备类型")
+        
+        # 根据检测到的手型初始化
+        for port, (handtype, baudrate, version) in detected_ports.items():
+            if handtype == 'Left' and not left_found:
+                self.force_reader_left = ForceSerialReader(
+                    HandType.left,
+                    excludelist=exclude_ports,
+                    baudrates=baudrates,
+                    isdebug=serial_debug,
+                    logger=serial_logger
+                )
+                if self.force_reader_left.openserial(port=port, baudrate=baudrate):
+                    self.force_reader_left.start()
+                    self.force_reader_left.serial_port.write(self.force_reader_left.pack_01_data())
+                    self.leftport = port
+                    self.leftbaudrate = baudrate
+                    left_found = True
+                    self.node.get_logger().info(f"左手已连接: {port} @ {baudrate}, 版本 {version}")
+                    if version:
+                        self.lefthand.set_glove_version(version)
+                        self.node.get_logger().info(f"[手套版本] 左手: v{version.split('.')[0]} ({version})")
+                    
+            elif handtype == 'Right' and not right_found:
+                self.force_reader_right = ForceSerialReader(
+                    HandType.right,
+                    excludelist=exclude_ports + ([self.leftport] if left_found else []),
+                    baudrates=baudrates,
+                    isdebug=serial_debug,
+                    logger=serial_logger
+                )
+                if self.force_reader_right.openserial(port=port, baudrate=baudrate):
+                    self.force_reader_right.start()
+                    self.force_reader_right.serial_port.write(self.force_reader_right.pack_01_data())
+                    self.rightport = port
+                    self.rightbaudrate = baudrate
+                    right_found = True
+                    self.node.get_logger().info(f"右手已连接: {port} @ {baudrate}, 版本 {version}")
+                    if version:
+                        self.righthand.set_glove_version(version)
+                        self.node.get_logger().info(f"[手套版本] 右手: v{version.split('.')[0]} ({version})")
+        
+        # 初始化未找到的 reader（占位）
+        if not left_found:
+            self.node.get_logger().error("未找到左手力反馈手套")
+            self.force_reader_left = None
+        if not right_found:
+            self.node.get_logger().error("未找到右手力反馈手套")
+            self.force_reader_right = None
+        
+        return left_found, right_found
+    
+    def _init_hand(self, reader, hand_type, saved_port, saved_baudrate, hand_name, auto_scan=False):
+        """初始化单个手的串口连接"""
+        found = False
+        
+        # 尝试预设串口
+        if saved_port and saved_baudrate:
+            self.node.get_logger().info(f"尝试预设{hand_name}串口: {saved_port}")
+            try:
+                if reader.openserial(port=saved_port, baudrate=int(saved_baudrate)):
+                    time.sleep(0.3)
+                    reader.start()
+                    time.sleep(0.3)
+                    reader.serial_port.write(reader.pack_01_data())
+                    time.sleep(0.3)
+                    if reader.handtype == hand_type:
+                        self.node.get_logger().info(f"预设{hand_name}串口有效, 版本{reader.version}")
+                        if hand_type == 'Left':
+                            self.leftport = saved_port
+                            self.leftbaudrate = int(saved_baudrate)
+                            if reader.version:
+                                self.lefthand.set_glove_version(reader.version)
+                                self.node.get_logger().info(f"[手套版本] 左手: v{reader.version.split('.')[0]} ({reader.version})")
+                        else:
+                            self.rightport = saved_port
+                            self.rightbaudrate = int(saved_baudrate)
+                            if reader.version:
+                                self.righthand.set_glove_version(reader.version)
+                                self.node.get_logger().info(f"[手套版本] 右手: v{reader.version.split('.')[0]} ({reader.version})")
+                        found = True
+                    else:
+                        reader.stop()
+                        self.node.get_logger().warn(f"预设{hand_name}串口类型不匹配")
+            except Exception as e:
+                self.node.get_logger().warn(f"预设{hand_name}串口无效: {e}")
+        
+        # 预设无效，根据 auto_scan 决定是否搜索设备
+        if not found:
+            if auto_scan:
+                self.node.get_logger().info(f"搜索{hand_name}力反馈手套...")
+                port, baudrate, errorcode = reader.find_valid_ports(timeout=0.001)
+                if port:
+                    if reader.openserial(port=port, baudrate=baudrate):
+                        time.sleep(0.3)
+                        reader.start()
+                        time.sleep(0.3)
+                        reader.serial_port.write(reader.pack_01_data())
+                        time.sleep(0.3)
+                        if reader.handtype == hand_type:
+                            self.node.get_logger().info(f"已搜索到{hand_name}力反馈手套, 版本{reader.version}")
+                            if hand_type == 'Left':
+                                self.leftport = port
+                                self.leftbaudrate = baudrate
+                                if reader.version:
+                                    self.lefthand.set_glove_version(reader.version)
+                                    self.node.get_logger().info(f"[手套版本] 左手: v{reader.version.split('.')[0]} ({reader.version})")
+                            else:
+                                self.rightport = port
+                                self.rightbaudrate = baudrate
+                                if reader.version:
+                                    self.righthand.set_glove_version(reader.version)
+                                    self.node.get_logger().info(f"[手套版本] 右手: v{reader.version.split('.')[0]} ({reader.version})")
+                            found = True
+                        else:
+                            self.node.get_logger().warn(f"{hand_name}无法正常识别")
+                else:
+                    self.node.get_logger().warn(f"未搜索到{hand_name}力反馈手套")
+            else:
+                self.node.get_logger().warn(f"{hand_name}串口未连接（自动扫描已禁用）")
+        
+        return found
+    
+    def _save_serial_to_config(self, left_found, right_found):
+        """保存检测到的串口配置到 base_config.yml"""
+        config_path = Path(__file__).parent.parent.parent / "config" / "base_config.yml"
+        try:
+            with open(config_path, 'r') as f:
+                config = yaml.safe_load(f)
+            
+            if 'serial' not in config:
+                config['serial'] = {}
+            if 'left' not in config['serial']:
+                config['serial']['left'] = {}
+            if 'right' not in config['serial']:
+                config['serial']['right'] = {}
+            
+            if left_found:
+                config['serial']['left']['port'] = self.leftport
+                config['serial']['left']['baudrate'] = self.leftbaudrate
+            if right_found:
+                config['serial']['right']['port'] = self.rightport
+                config['serial']['right']['baudrate'] = self.rightbaudrate
+            
+            with open(config_path, 'w') as f:
+                yaml.dump(config, f, default_flow_style=False)
+            
+            self.node.get_logger().info(f"串口配置已保存: 左手={self.leftport}, 右手={self.rightport}")
+        except Exception as e:
+            self.node.get_logger().error(f"保存串口配置失败: {e}")
+          
+    def process_callback(self):
+        if not self.runing:
+            return
+
+        self.pubprintcount += 1
+        
+        left_valid = self.force_reader_left and self.force_reader_left.handtype == 'Left'
+        right_valid = self.force_reader_right and self.force_reader_right.handtype == 'Right'
+        
+        warn_interval = 150
+        
+        if not left_valid and not right_valid and not self.force_glove_pose:
+            if self.pubprintcount % warn_interval == 1:
+                self.node.get_logger().warn("设备未连接: 左手套(未连接), 右手套(未连接)")
+            return
+        
+        if left_valid and not right_valid and not self.force_glove_pose:
+            if self.pubprintcount % warn_interval == 1:
+                self.node.get_logger().warn("设备未连接: 右手套(未连接)")
+        elif right_valid and not left_valid and not self.force_glove_pose:
+            if self.pubprintcount % warn_interval == 1:
+                self.node.get_logger().warn("设备未连接: 左手套(未连接)")
+        
+
+        if left_valid or self.force_glove_pose:
+            if self.force_glove_pose:
+                left_positions = self._get_forced_positions(self.force_glove_pose, 'left')
+                if left_positions is None:
+                    if left_valid:
+                        left_positions = copy.deepcopy(self.force_reader_left.poslist)
+                        self.node.get_logger().warn(f"强制姿态 {self.force_glove_pose} 数据不存在，使用实际数据")
+                    else:
+                        self.node.get_logger().warn(f"强制姿态 {self.force_glove_pose} 数据不存在且无设备")
+                        return
+            else:
+                left_positions = copy.deepcopy(self.force_reader_left.poslist)
+            
+            self.lefthand.joint_update(left_positions)
+            self.lefthand.speed_update()
+            if left_valid:
+                with self.forcelock:
+                    if self.results['left']:
+                        self.force_reader_left.forcelist = [
+                                self.results['left']['thumb_matrix']['max_force'],
+                                self.results['left']['index_matrix']['max_force'],
+                                self.results['left']['middle_matrix']['max_force'],
+                                self.results['left']['ring_matrix']['max_force'],
+                                self.results['left']['little_matrix']['max_force']
+                            ]
+                        self.force_reader_left.serial_port.write(self.force_reader_left.pack_04_data())
+            if self.lefthandpubprint and self.pubprintcount % 5 == 0:
+                print(f"左手位置: {self.lefthand.g_jointpositions}")
+            msg_l = JointState()
+            msg_l.header.stamp = self.node.get_clock().now().to_msg()
+            msg_l.name = [f'joint{i + 1}' for i in range(len(self.lefthand.g_jointpositions))]
+            msg_l.position = [float(num) for num in self.lefthand.g_jointpositions]
+            self.publisher_l.publish(msg_l)
+
+            if self.isdebugpub:
+                msg_debug_l = Float32MultiArray()
+                msg_debug_l.data = [float(num) for num in self.lefthand.multi_state_mapper.debug_value]
+                self.publisher_hand_debugdata_l.publish(msg_debug_l)
+                
+        if right_valid or self.force_glove_pose:
+            if self.force_glove_pose:
+                right_positions = self._get_forced_positions(self.force_glove_pose, 'right')
+                if right_positions is None:
+                    if right_valid:
+                        right_positions = copy.deepcopy(self.force_reader_right.poslist)
+                        self.node.get_logger().warn(f"强制姿态 {self.force_glove_pose} 数据不存在，使用实际数据")
+                    else:
+                        self.node.get_logger().warn(f"强制姿态 {self.force_glove_pose} 数据不存在且无设备")
+                        return
+            else:
+                right_positions = copy.deepcopy(self.force_reader_right.poslist)
+
+            self.righthand.joint_update(right_positions)
+            self.righthand.speed_update()
+            if right_valid:
+                with self.forcelock:
+                    if self.results['right']:
+                        self.force_reader_right.forcelist = [
+                                self.results['right']['thumb_matrix']['max_force'],
+                                self.results['right']['index_matrix']['max_force'],
+                                self.results['right']['middle_matrix']['max_force'],
+                                self.results['right']['ring_matrix']['max_force'],
+                                self.results['right']['little_matrix']['max_force']
+                            ]
+                        self.force_reader_right.serial_port.write(self.force_reader_right.pack_04_data())
+            if self.righthandpubprint and self.pubprintcount % 5 == 0:
+                print(f"右手位置: {self.righthand.g_jointpositions}")
+
+            msg_r = JointState()
+            msg_r.header.stamp = self.node.get_clock().now().to_msg()
+            msg_r.name = [f'joint{i + 1}' for i in range(len(self.righthand.g_jointpositions))]
+            msg_r.position = [float(num) for num in self.righthand.g_jointpositions]
+            msg_r.velocity = [float(num) for num in self.righthand.g_jointvelocity]
+            self.publisher_r.publish(msg_r)
+
+            if self.isdebugpub:
+                msg_debug_r = Float32MultiArray()
+                msg_debug_r.data = [float(num) for num in self.righthand.multi_state_mapper.debug_value]
+
+                self.publisher_hand_debugdata_r.publish(msg_debug_r)
+        
+        self.pubprintcount += 1
+
+    def _calculate_weighted_average(self, data_list):
+        """
+        计算加权平均值，后面的数据权重更高
+        
+        Args:
+            data_list: 包含多帧数据的列表，每帧是21个关节值的列表
+            
+        Returns:
+            加权平均后的21个关节值列表
+        """
+        if not data_list:
+            return [0.0] * 21
+        
+        n = len(data_list)
+        if n == 1:
+            return data_list[0]
+        
+        # 生成权重：后面的数据权重更高
+        weights = np.array([i + 1 for i in range(n)], dtype=float)
+        weights = weights / weights.sum()
+        
+        # 转换为numpy数组进行计算
+        data_array = np.array(data_list)
+        
+        # 加权平均
+        weighted_avg = np.average(data_array, axis=0, weights=weights)
+        
+        return weighted_avg.tolist()
+
+    def _check_stability(self, window_size=20, threshold=0.05):
+        """
+        检测手势稳定性
+        
+        Args:
+            window_size: 检测窗口大小（帧数）
+            threshold: 稳定性阈值（关节角度方差）
+            
+        Returns:
+            (is_stable, variance): 是否稳定，当前方差
+        """
+        if len(self.calibration_data_left) < window_size:
+            return False, 1.0
+        
+        recent_left = self.calibration_data_left[-window_size:]
+        recent_right = self.calibration_data_right[-window_size:]
+        
+        var_left = np.var(recent_left, axis=0).mean()
+        var_right = np.var(recent_right, axis=0).mean()
+        
+        is_stable = var_left < threshold and var_right < threshold
+        return is_stable, max(var_left, var_right)
+    
+    def _calibration_with_progress(self, stability_window=30, stability_threshold=0.03):
+        """
+        带稳定性检测的标定数据采集
+        
+        Args:
+            stability_window: 稳定性检测窗口（帧数）
+            stability_threshold: 稳定性阈值
+        """
+        self.calibration_data_left = []
+        self.calibration_data_right = []
+        
+        temp_buffer_left = []
+        temp_buffer_right = []
+        
+        stability_samples = []
+        stable_start = None
+        collected_duration = 0
+        target_stable_duration = 5.0
+        
+        with tqdm(total=100, desc=f"{Fore.CYAN}标定进度{Fore.RESET}",
+                  bar_format="{l_bar}{bar}| {n_fmt}/{total_fmt} [{postfix}]",
+                  postfix="") as pbar:
+            while collected_duration < target_stable_duration:
+                left_pos = copy.deepcopy(self.force_reader_left.poslist)
+                right_pos = copy.deepcopy(self.force_reader_right.poslist)
+                
+                temp_buffer_left.append(left_pos)
+                temp_buffer_right.append(right_pos)
+                
+                if len(temp_buffer_left) > stability_window:
+                    temp_buffer_left.pop(0)
+                    temp_buffer_right.pop(0)
+                
+                if len(temp_buffer_left) < stability_window:
+                    pbar.set_postfix_str(f"{Fore.YELLOW}等待数据 {len(temp_buffer_left)}/{stability_window}{Fore.RESET}")
+                    pbar.refresh()
+                    time.sleep(1.0 / 30)
+                    continue
+                
+                var_left = np.var(temp_buffer_left, axis=0).mean()
+                var_right = np.var(temp_buffer_right, axis=0).mean()
+                
+                drift_left = np.abs(np.array(temp_buffer_left[-1]) - np.array(temp_buffer_left[0])).mean()
+                drift_right = np.abs(np.array(temp_buffer_right[-1]) - np.array(temp_buffer_right[0])).mean()
+                
+                variance = max(var_left, var_right)
+                drift = max(drift_left, drift_right)
+                
+                is_stable = (variance < stability_threshold and drift < stability_threshold)
+                
+                if is_stable:
+                    if stable_start is None:
+                        stable_start = time.time()
+                    
+                    stability_samples.append((left_pos, right_pos))
+                    collected_duration = time.time() - stable_start
+                    
+                    progress = min(100, int(collected_duration / target_stable_duration * 100))
+                    pbar.n = progress
+                    pbar.last_print_n = progress
+                    pbar.set_postfix_str(f"{Fore.GREEN}稳定 {collected_duration:.1f}s var={variance:.3f} drift={drift:.3f}{Fore.RESET}")
+                else:
+                    stable_start = None
+                    stability_samples = []
+                    collected_duration = 0
+                    pbar.n = 0
+                    pbar.last_print_n = 0
+                    pbar.set_postfix_str(f"{Fore.YELLOW}等待稳定 var={variance:.3f} drift={drift:.3f}{Fore.RESET}")
+                
+                pbar.refresh()
+                time.sleep(1.0 / 30)
+        
+        if len(stability_samples) > 0:
+            self.calibration_data_left = [s[0] for s in stability_samples]
+            self.calibration_data_right = [s[1] for s in stability_samples]
+            print(f"{Fore.GREEN}采集完成，有效样本: {len(stability_samples)} 帧{Fore.RESET}")
+
+    def run_calibration(self):
+        """
+        执行自动标定流程
+        """
+        # 检查手套连接状态
+        left_valid = self.force_reader_left and self.force_reader_left.handtype == 'Left'
+        right_valid = self.force_reader_right and self.force_reader_right.handtype == 'Right'
+        
+        if not left_valid and not right_valid:
+            print(f"\n{Fore.RED}【标定失败】左右手套均未连接，请检查设备连接后重试{Fore.RESET}\n")
+            self.calibration_in_progress = False
+            return False
+        
+        self.calibration_in_progress = True
+        
+        # ===== 第一步：五指张开标定 (对应255) =====
+        self.calibration_data_left = []
+        self.calibration_data_right = []
+        total_steps = 2 if not self.show_fist_calibration else 3
+        print(f"\n{Fore.GREEN}{'='*50}{Fore.RESET}")
+        print(f"{Fore.GREEN}【标定 1/{total_steps}】请保持五指张开姿势 (对应电机值255){Fore.RESET}")
+        print(f"{Fore.GREEN}{'='*50}{Fore.RESET}\n")
+        
+        self._calibration_with_progress(10)
+        
+        if len(self.calibration_data_left) > 0:
+            avg_left_open = self._calculate_weighted_average(self.calibration_data_left)
+            avg_right_open = self._calculate_weighted_average(self.calibration_data_right)
+            self.lefthand.calibrationoriginal = avg_left_open
+            self.righthand.calibrationoriginal = avg_right_open
+        else:
+            print(f"\n{Fore.RED}【标定失败】五指张开数据采集失败{Fore.RESET}\n")
+            self.calibration_in_progress = False
+            return False
+        
+        # ===== 第二步：O型标定 (对应中间值) =====
+        self.calibration_data_left = []
+        self.calibration_data_right = []
+        print(f"\n{Fore.MAGENTA}{'='*50}{Fore.RESET}")
+        print(f"{Fore.MAGENTA}【标定 2/{total_steps}】请保持O型手势 (对应电机中间值){Fore.RESET}")
+        print(f"{Fore.MAGENTA}{'='*50}{Fore.RESET}\n")
+        
+        self._calibration_with_progress(10)
+        
+        if len(self.calibration_data_left) > 0:
+            avg_left_opose = self._calculate_weighted_average(self.calibration_data_left)
+            avg_right_opose = self._calculate_weighted_average(self.calibration_data_right)
+            self.lefthand.calibrationopose = avg_left_opose
+            self.righthand.calibrationopose = avg_right_opose
+        else:
+            print(f"\n{Fore.RED}【标定失败】O型手势数据采集失败{Fore.RESET}\n")
+            self.calibration_in_progress = False
+            return False
+        
+        # ===== 第三步：握拳标定 (可选) =====
+        if self.show_fist_calibration:
+            self.calibration_data_left = []
+            self.calibration_data_right = []
+            print(f"\n{Fore.YELLOW}{'='*50}{Fore.RESET}")
+            print(f"{Fore.YELLOW}【标定 3/{total_steps}】请握紧拳头 (对应电机值0){Fore.RESET}")
+            print(f"{Fore.YELLOW}{'='*50}{Fore.RESET}\n")
+            
+            self._calibration_with_progress(10)
+            
+            if len(self.calibration_data_left) > 0:
+                avg_left_fist = self._calculate_weighted_average(self.calibration_data_left)
+                avg_right_fist = self._calculate_weighted_average(self.calibration_data_right)
+                self.lefthand.calibrationfistpose = avg_left_fist
+                self.righthand.calibrationfistpose = avg_right_fist
+            else:
+                print(f"\n{Fore.RED}【标定失败】握拳数据采集失败{Fore.RESET}\n")
+                self.calibration_in_progress = False
+                return False
+        else:
+            self._calculate_fist_from_extension()
+        
+        # ===== 保存标定数据 =====
+        if self._save_to_tmp():
+            print(f"\n{Fore.GREEN}{'='*50}{Fore.RESET}")
+            print(f"{Fore.GREEN}【标定完成】{'三个' if self.show_fist_calibration else '两个'}姿势数据已保存{Fore.RESET}")
+            print(f"{Fore.GREEN}{'='*50}{Fore.RESET}\n")
+        
+        self.calibration_in_progress = False
+        self.righthand.initialize_mapper()
+        self.lefthand.initialize_mapper()
+        return True
+
+    def _calculate_fist_from_extension(self):
+        """
+        从 original 和 opose 延伸计算 fist 值
+        fist = opose + (opose - original) * extend_ratio
+        """
+        import numpy as np
+        
+        original_l = self.lefthand.calibrationoriginal
+        original_r = self.righthand.calibrationoriginal
+        opose_l = self.lefthand.calibrationopose
+        opose_r = self.righthand.calibrationopose
+        
+        if original_l is None or opose_l is None:
+            return
+        
+        ratio = self.fist_extend_ratio
+        
+        fist_l = []
+        fist_r = []
+        for i in range(len(original_l)):
+            fist_l.append(opose_l[i] + (opose_l[i] - original_l[i]) * ratio)
+        for i in range(len(original_r)):
+            fist_r.append(opose_r[i] + (opose_r[i] - original_r[i]) * ratio)
+        
+        self.lefthand.calibrationfistpose = fist_l
+        self.righthand.calibrationfistpose = fist_r
+        
+        self.node.get_logger().info(f"[自动计算] 握拳值已从 O型延伸 {ratio*100:.0f}% 生成")
+
+    def _save_to_tmp(self):
+        """
+        保存标定数据到临时文件 (JSON格式，与ROS2一致)
+        - jointangleoriginal: 五指张开 (对应电机255)
+        - jointanglefist: 握拳 (对应电机0)
+        """
+        # v2.8.6 版本添加标定差异检测
+        def calculate_vector_difference(vec1, vec2):
+                """计算两个向量之间的差异"""
+                if not vec1 or not vec2:
+                    return 0
+                
+                # 确保向量长度一致
+                min_len = min(len(vec1), len(vec2))
+                if min_len == 0:
+                    return 0
+                
+                # 计算欧几里得距离作为差异度量
+                squared_diff = 0
+                for i in range(min_len):
+                    squared_diff += (vec1[i] - vec2[i]) ** 2
+                return math.sqrt(squared_diff)
+            
+        # 检查右手标定数据的差异
+        right_diff_original_fist = calculate_vector_difference(
+            self.righthand.calibrationoriginal, 
+            self.righthand.calibrationfistpose
+        )
+        
+        # 检查左手标定数据的差异
+        left_diff_original_fist = calculate_vector_difference(
+            self.lefthand.calibrationoriginal,
+            self.lefthand.calibrationfistpose
+        )   
+        
+        # 设置阈值，根据实际情况调整
+        # 这个阈值表示两个向量之间的最小可接受差异
+        MIN_DIFFERENCE_THRESHOLD = 3.0
+        
+        # 检查右手数据是否有效
+        right_valid = False
+        if hasattr(self, 'force_reader_right') and self.force_reader_right.handtype == 'Right':
+            # 检查original和fistpose的差异
+            if right_diff_original_fist > MIN_DIFFERENCE_THRESHOLD:
+                right_valid = True
+            else:
+                self.node.get_logger().error("右手张手和握拳标定数据差异过小，可能未正确标定")
+        
+        # 检查左手数据是否有效
+        left_valid = False
+        if hasattr(self, 'force_reader_left') and self.force_reader_left.handtype == 'Left':
+            # 检查original和fistpose的差异
+            if left_diff_original_fist > MIN_DIFFERENCE_THRESHOLD:
+                left_valid = True
+            else:
+                self.node.get_logger().error("左手张手和握拳标定数据差异过小，可能未正确标定")
+        
+        # 如果没有有效的新数据，直接返回不保存
+        if not right_valid and not left_valid:
+            self.node.get_logger().error("没有有效的标定数据差异，取消保存")
+            return False
+
+        data = {
+            "timestamp": datetime.now().isoformat(),
+            "jointangleoriginal_r": self.righthand.calibrationoriginal,
+            "jointangleoriginal_l": self.lefthand.calibrationoriginal,
+            "jointanglefist_r": self.righthand.calibrationfistpose,
+            "jointanglefist_l": self.lefthand.calibrationfistpose,
+            "jointangleopose_r": self.righthand.calibrationopose,
+            "jointangleopose_l": self.lefthand.calibrationopose
+        }
+
+        try:
+            TMP_FILE_PATH.parent.mkdir(parents=True, exist_ok=True)
+            if TMP_FILE_PATH.exists():
+                content = TMP_FILE_PATH.read_text()
+                historydata = json.loads(content)
+                # 根据有效性更新数据
+                if not right_valid:
+                    data["jointangleoriginal_r"] = historydata["jointangleoriginal_r"]
+                    data["jointanglefist_r"] = historydata["jointanglefist_r"]
+                    data["jointangleopose_r"] = historydata["jointangleopose_r"]
+                    # 同时更新 righthand 的标定属性
+                    self.righthand.calibrationoriginal = historydata["jointangleoriginal_r"]
+                    self.righthand.calibrationfistpose = historydata["jointanglefist_r"]
+                    self.righthand.calibrationopose = historydata["jointangleopose_r"]
+                    self.node.get_logger().warning("右手未能正确标定,采用上一次的标定内容。")
+                if not left_valid:
+                    data["jointangleoriginal_l"] = historydata["jointangleoriginal_l"]
+                    data["jointanglefist_l"] = historydata["jointanglefist_l"]
+                    data["jointangleopose_l"] = historydata["jointangleopose_l"]
+                    # 同时更新 lefthand 的标定属性
+                    self.lefthand.calibrationoriginal = historydata["jointangleoriginal_l"]
+                    self.lefthand.calibrationfistpose = historydata["jointanglefist_l"]
+                    self.lefthand.calibrationopose = historydata["jointangleopose_l"]
+                    self.node.get_logger().warning("左手未能正确标定,采用上一次的标定内容。")
+            json_str = json.dumps(data, indent=2)
+            TMP_FILE_PATH.write_text(json_str)
+            self.node.get_logger().info("标定数据保存成功")
+            return True
+        except Exception as e:
+            self.node.get_logger().error(f"保存失败: {e}")
+            return False
+
+    def _load_from_tmp(self):
+        """
+        从临时文件读取数据 (JSON格式)
+        如果文件不存在，自动从样本数据(YAML)加载并保存
+        """
+        data = None
+        from_sample = False
+        
+        if TMP_FILE_PATH.exists():
+            try:
+                content = TMP_FILE_PATH.read_text()
+                data = json.loads(content)
+                self.node.get_logger().info("加载用户标定数据")
+            except Exception as e:
+                self.node.get_logger().error(f"读取标定数据失败: {e}")
+        
+        if data is None and SAMPLE_FILE_PATH.exists():
+            try:
+                with open(SAMPLE_FILE_PATH, 'r') as f:
+                    data = yaml.safe_load(f)
+                from_sample = True
+                self.node.get_logger().info("首次使用，加载样本标定数据")
+            except Exception as e:
+                self.node.get_logger().error(f"读取样本数据失败: {e}")
+        
+        if data is None:
+            self.node.get_logger().warn("标定数据不存在")
+            return False
+
+        if 'timestamp' not in data or not data['timestamp']:
+            self.node.get_logger().warn("无效的时间戳...")
+            return False
+
+        try:
+            saved_time = datetime.fromisoformat(str(data['timestamp']))
+            current_time = datetime.now()
+            time_diff = current_time - saved_time
+            if time_diff > timedelta(days=30):
+                self.node.get_logger().warn("标定数据已超过30天有效期，建议重新标定...")
+        except:
+            pass
+
+        self.righthand.calibrationoriginal = data.get('jointangleoriginal_r')
+        self.lefthand.calibrationoriginal = data.get('jointangleoriginal_l')
+        
+        if data.get('jointanglefist_r'):
+            self.righthand.calibrationfistpose = data['jointanglefist_r']
+        if data.get('jointanglefist_l'):
+            self.lefthand.calibrationfistpose = data['jointanglefist_l']
+        
+        if data.get('jointangleopose_r'):
+            self.righthand.calibrationopose = data['jointangleopose_r']
+        if data.get('jointangleopose_l'):
+            self.lefthand.calibrationopose = data['jointangleopose_l']
+        
+        if self.lefthand.calibrationfistpose is None or self.righthand.calibrationfistpose is None:
+            if self.lefthand.calibrationoriginal and self.lefthand.calibrationopose:
+                self._calculate_fist_from_extension()
+        
+        if from_sample:
+            TMP_FILE_PATH.parent.mkdir(parents=True, exist_ok=True)
+            with open(TMP_FILE_PATH, 'w') as f:
+                json.dump(data, f, indent=2)
+            self.node.get_logger().info("样本标定数据已保存到用户标定文件")
+        
+        self.node.get_logger().info("标定数据加载成功")
+        return True
+
+    def _get_forced_positions(self, pose_type: str, hand_type: str):
+        """
+        获取强制姿态的标定数据
+        
+        Args:
+            pose_type: 姿态类型 (open/fist/opose)
+            hand_type: 手类型 (left/right)
+            
+        Returns:
+            位置数据列表，如果不存在返回 None
+        """
+        if not TMP_FILE_PATH.exists():
+            return None
+        
+        if self.calibration_cache is None:
+            try:
+                content = TMP_FILE_PATH.read_text()
+                self.calibration_cache = json.loads(content)
+            except:
+                return None
+        
+        hand = hand_type.lower()
+        pose_map = {
+            'open': f'jointangleoriginal_{hand[0]}',
+            'fist': f'jointanglefist_{hand[0]}',
+            'opose': f'jointangleopose_{hand[0]}'
+        }
+        
+        key = pose_map.get(pose_type)
+        if key and self.calibration_cache:
+            return self.calibration_cache.get(key)
+        return None
+
+    def process(self):
+        """主处理函数"""
+        # 初始化串口连接
+        self.linkerforce_init()
+        # 执行标定（如果需要）
+        if self.calibration == "auto_calibrate":
+            if not self.run_calibration():
+                self.node.get_logger().error("标定失败，退出程序")
+                return
+            self.calibration = -1
+        self.node.create_timer(1.0/30, self.process_callback)  # 30Hz
+
+    def stop_serial_threads(self):
+        """停止串口线程，在 destroy_node 时调用"""
+        self.runing = False
+        if self.force_reader_left:
+            self.force_reader_left.stop()
+        if self.force_reader_right:
+            self.force_reader_right.stop()
+        self.node.get_logger().info("串口线程已停止")
+
+    def set_mode(self, mode, param=None):
+        """
+        设置遥操作模式
+        
+        Args:
+            mode: 运行模式
+                - 'glove': 使用手套数据
+                - 'fixed_opose': 使用固定O型姿态
+                - 'fixed_fist': 使用固定握拳姿态
+            param: 额外参数 (dict)
+                - serial_debug: bool, 开启串口调试
+                - mapper_debug: bool, 开启映射器调试
+        """
+        if param is None:
+            param = {}
+        
+        # 处理串口调试开关
+        if 'serial_debug' in param:
+            debug_enabled = param['serial_debug']
+            if hasattr(self.force_reader_left, 'isdebug'):
+                self.force_reader_left.isdebug = debug_enabled
+            if hasattr(self.force_reader_right, 'isdebug'):
+                self.force_reader_right.isdebug = debug_enabled
+            self.node.get_logger().info(f"串口调试: {'开启' if debug_enabled else '关闭'}")
+        
+        # 处理映射器调试开关
+        if 'mapper_debug' in param:
+            mapper_debug_enabled = param['mapper_debug']
+            if hasattr(self.righthand, 'multi_state_mapper') and hasattr(self.righthand.multi_state_mapper, 'set_debug'):
+                self.righthand.multi_state_mapper.set_debug(mapper_debug_enabled)
+            if hasattr(self.lefthand, 'multi_state_mapper') and hasattr(self.lefthand.multi_state_mapper, 'set_debug'):
+                self.lefthand.multi_state_mapper.set_debug(mapper_debug_enabled)
+            if isinstance(mapper_debug_enabled, list):
+                fingers_str = ', '.join(mapper_debug_enabled) if mapper_debug_enabled else '全部'
+                self.node.get_logger().info(f"映射器调试: 开启 (手指: {fingers_str})")
+            else:
+                self.node.get_logger().info(f"映射器调试: {'开启' if mapper_debug_enabled else '关闭'}")
+        
+        # 处理强制手套数据源
+        if 'force_glove_pose' in param:
+            pose = param['force_glove_pose']
+            if pose in ['open', 'fist', 'opose', 'none', None]:
+                self.force_glove_pose = pose if pose != 'none' else None
+                if self.force_glove_pose:
+                    self.node.get_logger().info(f"强制手套数据源: {self.force_glove_pose}")
+                else:
+                    self.node.get_logger().info("强制手套数据源: 关闭，使用实际数据")
+            else:
+                self.node.get_logger().warn(f"无效的强制姿态: {pose}，可选: open/fist/opose/none")
+        
+        # 处理延伸指数因子
+        if 'mapper_exp_factor' in param:
+            exp_factor = param['mapper_exp_factor']
+            if isinstance(exp_factor, dict):
+                # 指定手指设置
+                for finger, value in exp_factor.items():
+                    if hasattr(self.righthand, 'multi_state_mapper') and hasattr(self.righthand.multi_state_mapper, 'exp_factors'):
+                        if finger in self.righthand.multi_state_mapper.exp_factors:
+                            self.righthand.multi_state_mapper.exp_factors[finger] = value
+                    if hasattr(self.lefthand, 'multi_state_mapper') and hasattr(self.lefthand.multi_state_mapper, 'exp_factors'):
+                        if finger in self.lefthand.multi_state_mapper.exp_factors:
+                            self.lefthand.multi_state_mapper.exp_factors[finger] = value
+                fingers_str = ', '.join([f"{k}:{v}" for k, v in exp_factor.items()])
+                self.node.get_logger().info(f"延伸指数因子(指定): {fingers_str}")
+            else:
+                # 全部手指设置
+                if hasattr(self.righthand, 'multi_state_mapper') and hasattr(self.righthand.multi_state_mapper, 'exp_factors'):
+                    for finger in self.righthand.multi_state_mapper.exp_factors:
+                        self.righthand.multi_state_mapper.exp_factors[finger] = exp_factor
+                if hasattr(self.lefthand, 'multi_state_mapper') and hasattr(self.lefthand.multi_state_mapper, 'exp_factors'):
+                    for finger in self.lefthand.multi_state_mapper.exp_factors:
+                        self.lefthand.multi_state_mapper.exp_factors[finger] = exp_factor
+                self.node.get_logger().info(f"延伸指数因子(全部): {exp_factor}")
+        
+        # 处理缩放因子
+        if 'mapper_scale_factor' in param:
+            scale_factor = param['mapper_scale_factor']
+            if isinstance(scale_factor, dict):
+                # 指定手指设置
+                for finger, value in scale_factor.items():
+                    if hasattr(self.righthand, 'multi_state_mapper') and hasattr(self.righthand.multi_state_mapper, 'scale_factors'):
+                        if finger in self.righthand.multi_state_mapper.scale_factors:
+                            self.righthand.multi_state_mapper.scale_factors[finger] = value
+                    if hasattr(self.lefthand, 'multi_state_mapper') and hasattr(self.lefthand.multi_state_mapper, 'scale_factors'):
+                        if finger in self.lefthand.multi_state_mapper.scale_factors:
+                            self.lefthand.multi_state_mapper.scale_factors[finger] = value
+                fingers_str = ', '.join([f"{k}:{v}" for k, v in scale_factor.items()])
+                self.node.get_logger().info(f"缩放因子(指定): {fingers_str}")
+            else:
+                # 全部手指设置
+                if hasattr(self.righthand, 'multi_state_mapper') and hasattr(self.righthand.multi_state_mapper, 'scale_factors'):
+                    for finger in self.righthand.multi_state_mapper.scale_factors:
+                        self.righthand.multi_state_mapper.scale_factors[finger] = scale_factor
+                if hasattr(self.lefthand, 'multi_state_mapper') and hasattr(self.lefthand.multi_state_mapper, 'scale_factors'):
+                    for finger in self.lefthand.multi_state_mapper.scale_factors:
+                        self.lefthand.multi_state_mapper.scale_factors[finger] = scale_factor
+                self.node.get_logger().info(f"缩放因子(全部): {scale_factor}")
+        
+        # 模式切换（仅当 mode 有明确值时）
+        if mode == 'glove':
+            if hasattr(self.righthand, 'use_fixed_pose'):
+                self.righthand.use_fixed_pose = False
+            if hasattr(self.lefthand, 'use_fixed_pose'):
+                self.lefthand.use_fixed_pose = False
+            self.node.get_logger().info("模式切换: 手套数据")
+            
+        elif mode == 'fixed_opose':
+            if hasattr(self.righthand, 'use_fixed_pose'):
+                self.righthand.use_fixed_pose = True
+                self.righthand.fixed_pose = self.righthand.robot_opose
+            if hasattr(self.lefthand, 'use_fixed_pose'):
+                self.lefthand.use_fixed_pose = True
+                self.lefthand.fixed_pose = self.lefthand.robot_opose
+            self.node.get_logger().info("模式切换: 固定O型姿态")
+            
+        elif mode == 'fixed_fist':
+            if hasattr(self.righthand, 'use_fixed_pose'):
+                self.righthand.use_fixed_pose = True
+                self.righthand.fixed_pose = self.righthand.robot_fist
+            if hasattr(self.lefthand, 'use_fixed_pose'):
+                self.lefthand.use_fixed_pose = True
+                self.lefthand.fixed_pose = self.lefthand.robot_fist
+            self.node.get_logger().info("模式切换: 固定握拳姿态")
+            
+        elif mode is not None:
+            self.node.get_logger().warn(f"未知模式: {mode}")
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/tmp/.gitkeep b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/tmp/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/README.md b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/README.md
new file mode 100644
index 0000000..52e63d9
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/README.md
@@ -0,0 +1,62 @@
+# LinkerMCG Data Glove Module
+
+LinkerMCG data glove ROS2 driver module, receives glove data via UDP and publishes to ROS2 topics.
+
+## Features
+
+- Receives glove data via UDP protocol
+- Supports left and right hand data
+- 50Hz publish rate
+
+## Usage
+
+### 1. Config File
+
+Edit `config/base_config.yml`:
+
+```yaml
+system:
+  motion_type: linkermcg
+
+udp:
+  ip: "0.0.0.0"
+  port: 8888
+```
+
+### 2. Launch
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+## ROS2 Topics
+
+### Published Topics
+
+| Topic | Message Type | Description |
+|-------|-------------|-------------|
+| `/cb_right_hand_control_cmd` | `sensor_msgs/JointState` | Right hand control data |
+| `/cb_left_hand_control_cmd` | `sensor_msgs/JointState` | Left hand control data |
+
+### Message Format
+
+```python
+# sensor_msgs/JointState
+msg.header.stamp  # Timestamp
+msg.name          # Joint name list
+msg.position      # Joint position values
+```
+
+## File Structure
+
+```
+motion/linkermcg/
+├── __init__.py
+├── retarget.py      # ROS2 integration
+└── README.md        # English documentation
+```
+
+## Notes
+
+1. Ensure UDP port is not occupied
+2. Glove and host must be on the same network
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/README_zh.md b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/README_zh.md
new file mode 100644
index 0000000..cf4c2af
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/README_zh.md
@@ -0,0 +1,62 @@
+# LinkerMCG 数据手套模块
+
+LinkerMCG 数据手套的 ROS2 驱动模块，通过 UDP 接收手套数据并发布到 ROS2 话题。
+
+## 特性
+
+- 通过 UDP 协议接收手套数据
+- 支持左右手数据
+- 发布频率 50Hz
+
+## 使用方法
+
+### 1. 配置文件
+
+修改 `config/base_config.yml`:
+
+```yaml
+system:
+  motion_type: linkermcg
+
+udp:
+  ip: "0.0.0.0"
+  port: 8888
+```
+
+### 2. 运行
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+## ROS2 话题
+
+### 发布话题
+
+| 话题名 | 消息类型 | 说明 |
+|-------|---------|------|
+| `/cb_right_hand_control_cmd` | `sensor_msgs/JointState` | 右手控制数据 |
+| `/cb_left_hand_control_cmd` | `sensor_msgs/JointState` | 左手控制数据 |
+
+### 消息格式
+
+```python
+# sensor_msgs/JointState
+msg.header.stamp  # 时间戳
+msg.name          # 关节名称列表
+msg.position      # 关节位置值
+```
+
+## 文件结构
+
+```
+motion/linkermcg/
+├── __init__.py
+├── retarget.py      # ROS2 集成
+└── README.md        # 本文档
+```
+
+## 注意事项
+
+1. 确保 UDP 端口未被占用
+2. 手套与主机需在同一网络
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l10v7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l10v7.py
new file mode 100644
index 0000000..0a349c1
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l10v7.py
@@ -0,0 +1,143 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions[0] = joint_arc[0]     # 根部关节
+        self.g_jointpositions[1] = joint_arc[5]     # 侧摆
+        self.g_jointpositions[2] = joint_arc[1]     # 食指根部关节
+        self.g_jointpositions[3] = joint_arc[2]     # 中指根部关节
+        self.g_jointpositions[4] = joint_arc[3]     # 无名指根部关节
+        self.g_jointpositions[5] = joint_arc[4]     # 小指根部关节
+        self.g_jointpositions[6] = joint_arc[6]     # 食指侧摆
+        self.g_jointpositions[7] = joint_arc[8]     # 无名指侧摆
+        self.g_jointpositions[8] = joint_arc[9]     # 小指侧摆
+        self.g_jointpositions[9] = joint_arc[10]    # 旋转
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions[0] = joint_arc[0]     # 根部关节
+        self.g_jointpositions[1] = joint_arc[5]     # 侧摆
+        self.g_jointpositions[2] = joint_arc[1]     # 食指根部关节
+        self.g_jointpositions[3] = joint_arc[2]     # 中指根部关节
+        self.g_jointpositions[4] = joint_arc[3]     # 无名指根部关节
+        self.g_jointpositions[5] = joint_arc[4]     # 小指根部关节
+        self.g_jointpositions[6] = joint_arc[6]     # 食指侧摆
+        self.g_jointpositions[7] = joint_arc[8]     # 无名指侧摆
+        self.g_jointpositions[8] = joint_arc[9]     # 小指侧摆
+        self.g_jointpositions[9] = joint_arc[10]    # 旋转
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l20.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l20.py
new file mode 100644
index 0000000..53785fa
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l20.py
@@ -0,0 +1,123 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions = joint_arc[:20]     # 完整复制
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_rimit = 2
+            fast_rimit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_rimit < position_error < fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_rimit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions = joint_arc[:20]     # 完整复制
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 2
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l21.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l21.py
new file mode 100644
index 0000000..b2244e6
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l21.py
@@ -0,0 +1,123 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions = joint_arc    # 完整复制
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions = joint_arc    # 完整复制
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l25.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l25.py
new file mode 100644
index 0000000..53785fa
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l25.py
@@ -0,0 +1,123 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions = joint_arc[:20]     # 完整复制
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_rimit = 2
+            fast_rimit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_rimit < position_error < fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_rimit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions = joint_arc[:20]     # 完整复制
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 2
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l6.py
new file mode 100644
index 0000000..02105bf
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l6.py
@@ -0,0 +1,161 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions[0] = joint_arc[0]     # 根部关节
+        self.g_jointpositions[1] = joint_arc[5]     # 侧摆
+        self.g_jointpositions[2] = joint_arc[1]     # 食指根部关节
+        self.g_jointpositions[3] = joint_arc[2]     # 中指根部关节
+        self.g_jointpositions[4] = joint_arc[3]     # 无名指根部关节
+        self.g_jointpositions[5] = joint_arc[4]     # 小指根部关节
+
+
+        # qpos[17] = joint_arc[10]    # 旋转
+        
+        # qpos[19] = joint_arc[15]    # 中部关节
+        # qpos[20] = joint_arc[20]    # 远端关节
+
+        # qpos[0] = joint_arc[6]      # 食指侧摆
+        # qpos[1] = joint_arc[1]      # 食指根部关节
+        # qpos[2] = joint_arc[16]     # 食指中部关节
+        # qpos[3] = joint_arc[21]     # 食指远端关节
+
+        # qpos[4] = joint_arc[9]     # 小指侧摆
+        # qpos[5] = joint_arc[4]     # 小指根部关节
+        # qpos[6] = joint_arc[19]     # 小指中部关节
+        # qpos[7] = joint_arc[24]     # 小指远端关节
+
+        # qpos[8] = joint_arc[7]     # 中指侧摆
+        # qpos[9] = joint_arc[2]     # 中指根部关节
+        # qpos[10] = joint_arc[17]     # 中指中部关节
+        # qpos[11] = joint_arc[22]     # 中指远端关节
+
+        # qpos[12] = joint_arc[8]     # 无名指侧摆
+        # qpos[13] = joint_arc[3]     # 无名指根部关节
+        # qpos[14] = joint_arc[18]     # 无名指中部关节
+        # qpos[15] = joint_arc[23]     # 无名指远端关节
+        # self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions[0] = joint_arc[0]     # 根部关节
+        self.g_jointpositions[1] = joint_arc[5]     # 侧摆
+        self.g_jointpositions[2] = joint_arc[1]     # 食指根部关节
+        self.g_jointpositions[3] = joint_arc[2]     # 中指根部关节
+        self.g_jointpositions[4] = joint_arc[3]     # 无名指根部关节
+        self.g_jointpositions[5] = joint_arc[4]     # 小指根部关节
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l7.py
new file mode 100644
index 0000000..9261653
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_l7.py
@@ -0,0 +1,136 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions[0] = joint_arc[0]     # 根部关节
+        self.g_jointpositions[1] = joint_arc[5]     # 侧摆
+        self.g_jointpositions[2] = joint_arc[1]     # 食指根部关节
+        self.g_jointpositions[3] = joint_arc[2]     # 中指根部关节
+        self.g_jointpositions[4] = joint_arc[3]     # 无名指根部关节
+        self.g_jointpositions[5] = joint_arc[4]     # 小指根部关节
+        self.g_jointpositions[6] = joint_arc[10]    # 旋转
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions[0] = joint_arc[0]     # 根部关节
+        self.g_jointpositions[1] = joint_arc[5]     # 侧摆
+        self.g_jointpositions[2] = joint_arc[1]     # 食指根部关节
+        self.g_jointpositions[3] = joint_arc[2]     # 中指根部关节
+        self.g_jointpositions[4] = joint_arc[3]     # 无名指根部关节
+        self.g_jointpositions[5] = joint_arc[4]     # 小指根部关节
+        self.g_jointpositions[6] = joint_arc[10]    # 旋转
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_o6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_o6.py
new file mode 100644
index 0000000..5ea5083
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/hand/linkermcg_o6.py
@@ -0,0 +1,134 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions[0] = joint_arc[0]     # 根部关节
+        self.g_jointpositions[1] = joint_arc[5]     # 侧摆
+        self.g_jointpositions[2] = joint_arc[1]     # 食指根部关节
+        self.g_jointpositions[3] = joint_arc[2]     # 中指根部关节
+        self.g_jointpositions[4] = joint_arc[3]     # 无名指根部关节
+        self.g_jointpositions[5] = joint_arc[4]     # 小指根部关节
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        self.g_jointpositions[0] = joint_arc[0]     # 根部关节
+        self.g_jointpositions[1] = joint_arc[5]     # 侧摆
+        self.g_jointpositions[2] = joint_arc[1]     # 食指根部关节
+        self.g_jointpositions[3] = joint_arc[2]     # 中指根部关节
+        self.g_jointpositions[4] = joint_arc[3]     # 无名指根部关节
+        self.g_jointpositions[5] = joint_arc[4]     # 小指根部关节
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/retarget.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/retarget.py
new file mode 100644
index 0000000..bbfb120
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/linkermcg/retarget.py
@@ -0,0 +1,174 @@
+import time
+import rclpy
+import sys
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from pathlib import Path
+
+_project_root = Path(__file__).absolute().parent.parent.parent
+_project_root_str = str(_project_root)
+
+if _project_root_str in sys.path:
+    sys.path.remove(_project_root_str)
+sys.path.insert(0, _project_root_str)
+
+
+from linkerhand.linkermcgcore import HaoCunScoketUdp
+from linkerhand.handcore import HandCore
+from linkerhand.constants import RobotName, ROBOT_LEN_MAP
+
+
+
+class Retarget():
+    def __init__(self,node, ip, port, lefthand: RobotName, righthand: RobotName, handcore: HandCore,
+                lefthandpubprint: bool, righthandpubprint: bool):
+        self.node = node
+        self.udp_ip = ip
+        self.udp_port = port
+        self.lefthandtype = lefthand
+        self.righthandtype = righthand
+        self.handcore = handcore
+        self.running = True
+        self.lefthandpubprint = lefthandpubprint
+        self.righthandpubprint = righthandpubprint
+        
+        # 根据右手类型初始化
+        if self.righthandtype == RobotName.o7 \
+            or self.righthandtype == RobotName.l7 \
+            or self.righthandtype == RobotName.o7v1 \
+            or self.righthandtype == RobotName.o7v3:
+            from .hand.linkermcg_l7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.o6:
+            from .hand.linkermcg_o6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l6:
+            from .hand.linkermcg_l6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l25 \
+            or self.righthandtype == RobotName.g20:
+            from .hand.linkermcg_l25 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        # elif self.righthandtype == RobotName.t25:
+        #     from .hand.linkermcg_t25 import RightHand
+        #     self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l20:
+            from .hand.linkermcg_l20 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l10 \
+            or self.righthandtype == RobotName.l10v7 :
+            from .hand.linkermcg_l10v7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l21:
+            from .hand.linkermcg_l21 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+
+        # 根据LEFT手类型初始化
+        if self.lefthandtype == RobotName.o7 \
+            or self.lefthandtype == RobotName.l7 \
+            or self.lefthandtype == RobotName.o7v1 \
+            or self.lefthandtype == RobotName.o7v3:
+            from .hand.linkermcg_l7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.o6:
+            from .hand.linkermcg_o6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l6:
+            from .hand.linkermcg_l6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l25 \
+            or self.lefthandtype == RobotName.g20:
+            from .hand.linkermcg_l25 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        # elif self.lefthandtype == RobotName.t25:
+        #     from .hand.linkermcg_t25 import LeftHand
+        #     self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l20:
+            from .hand.linkermcg_l20 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l10 \
+            or self.lefthandtype == RobotName.l10v7 :
+            from .hand.linkermcg_l10v7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l21:
+            from .hand.linkermcg_l21 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+
+        self.publisher_r = self.node.create_publisher(
+            JointState,
+            '/cb_right_hand_control_cmd',
+            self.handcore.hand_numjoints_r)
+            
+        self.publisher_l = self.node.create_publisher(
+            JointState,
+            '/cb_left_hand_control_cmd',
+            self.handcore.hand_numjoints_l)
+        
+        # 创建ROS定时器，以固定频率处理数据
+        # 参数1: period 周期(秒)
+        # 参数2: callback 回调函数
+        # 参数3: oneshot 是否只执行一次
+        self.timer = self.node.create_timer(1.0/120, self.process_callback)  # 120Hz
+        self.pubprintcount = 0
+        self.pubprintcount = 0
+
+        self.pubprintcount = 0
+        self.udp_datacapture = None
+
+    def initialize_udp(self):
+        """初始化UDP连接"""
+        self.udp_datacapture = HaoCunScoketUdp(
+            host=self.udp_ip,
+            port=self.udp_port)
+        if self.udp_datacapture.udp_initial():
+            self.node.get_logger().info("UDP连接初始化成功")
+            self.running = True
+        else:
+            self.node.get_logger().error("UDP连接初始化失败")
+    
+    def process_callback(self):
+        if not self.running:
+            return
+    
+        mocapdata = self.udp_datacapture.realmocapdata
+        if not mocapdata.is_update:
+            return
+                    
+        # 处理左右手原始数据
+        self.lefthand.joint_update(mocapdata.jointangle_lHand)
+        self.righthand.joint_update(mocapdata.jointangle_rHand)
+
+        # 速度环节处理
+        self.lefthand.speed_update()
+        self.righthand.speed_update()
+
+        # 调试打印
+        if self.lefthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"左手位置: {self.lefthand.g_jointpositions}")
+        if self.righthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"右手位置: {self.righthand.g_jointpositions}")
+
+        # 发布右手数据
+        msg_r = JointState()
+        msg_r.header.stamp = self.node.get_clock().now().to_msg()
+        msg_r.name = [f'joint{i + 1}' for i in range(len(self.righthand.g_jointpositions))]
+        msg_r.position = [float(num) for num in self.righthand.g_jointpositions]
+        msg_r.velocity = [float(num) for num in self.righthand.g_jointvelocity]
+        self.publisher_r.publish(msg_r)
+
+        # 发布左手数据
+        msg_l = JointState()
+        msg_l.header.stamp = self.node.get_clock().now().to_msg()
+        msg_l.name = [f'joint{i + 1}' for i in range(len(self.lefthand.g_jointpositions))]
+        msg_l.position = [float(num) for num in self.lefthand.g_jointpositions]
+        msg_l.velocity = [float(num) for num in self.lefthand.g_jointvelocity]
+        self.publisher_l.publish(msg_l)
+
+    def process(self):
+        """主处理函数"""
+        self.initialize_udp()
+        try:
+            while rclpy.ok():
+                rclpy.spin_once(self.node, timeout_sec=0.1)
+        except rclpy.ROSInterruptException:
+            pass
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l10v7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l10v7.py
new file mode 100644
index 0000000..fcb7de0
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l10v7.py
@@ -0,0 +1,180 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.3        # 旋转
+        qpos[17] = joint_arc[20] * 2.6        # 侧摆
+        # qpos[18] = joint_arc[2] * 0           # 根部关节
+        # qpos[19] = joint_arc[1] * 0           # 中部关节
+        qpos[20] = joint_arc[0] * -0.6        # 远端关节
+        # print(qpos[16],qpos[17])
+
+        
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -0.7
+        # qpos[2] = joint_arc[5] * -1
+        # qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -0.7
+        # qpos[6] = joint_arc[17] * -1
+        # qpos[7] = joint_arc[16] * -1
+
+        # qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -0.7
+        # qpos[10] = joint_arc[9] * -1
+        # qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -0.7
+        # qpos[14] = joint_arc[13] * -1
+        # qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1        # 旋转
+        qpos[17] = joint_arc[2] * -1        # 侧摆
+        qpos[18] = joint_arc[2] * 0        # 根部关节
+        qpos[19] = joint_arc[1] * 0 # 中部关节
+        qpos[20] = joint_arc[1] * -1 # 远端关节
+        # print(qpos[16],qpos[17])
+        qpos[0] = joint_arc[7]  * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l20.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l20.py
new file mode 100644
index 0000000..2e8790c
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l20.py
@@ -0,0 +1,176 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1
+        qpos[17] = joint_arc[20] * 1
+        qpos[18] = joint_arc[1] * -1
+        qpos[19] = joint_arc[0] * -1
+
+        qpos[0] = joint_arc[7] * 1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19] * 1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15] * 1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_rimit = 2
+            fast_rimit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_rimit < position_error < fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_rimit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = (joint_arc[2] * -1 - 0.3)
+        qpos[17] = joint_arc[20] * 1
+        qpos[18] = joint_arc[1] * -1
+        qpos[19] = joint_arc[0] * 0
+
+        qpos[0] = joint_arc[7] * 1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19] * 1
+        
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11] * 1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+        
+
+        qpos[12] = joint_arc[15] * 1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 2
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l21.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l21.py
new file mode 100644
index 0000000..d9ee68e
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l21.py
@@ -0,0 +1,192 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1    # 侧摆
+        qpos[17] = joint_arc[20] * 2    # 旋转 
+        qpos[18] = joint_arc[2] * -0.5  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1  # 远端关节
+
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -0.9
+        qpos[2] = joint_arc[5] * -0.9
+        qpos[3] = joint_arc[4] * -1
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -0.9
+        qpos[6] = joint_arc[17] * -0.9
+        qpos[7] = joint_arc[16] * -1
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[6] = 0
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[7] = 0
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -0.9
+        qpos[10] = joint_arc[9] * -0.9
+        qpos[11] = joint_arc[8] * -1
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -0.9
+        qpos[14] = joint_arc[13] * -0.9
+        qpos[15] = joint_arc[12] * -1
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.5    # 侧摆
+        qpos[17] = joint_arc[20] * 3    # 旋转 
+        qpos[18] = joint_arc[2] * -0.5  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1  # 远端关节
+
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -0.9
+        qpos[2] = joint_arc[5] * -0.9
+        qpos[3] = joint_arc[4] * -1
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -0.9
+        qpos[6] = joint_arc[17] * -0.9
+        qpos[7] = joint_arc[16] * -1
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[6] = 0
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[7] = 0
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -0.9
+        qpos[10] = joint_arc[9] * -0.9
+        qpos[11] = joint_arc[8] * -1
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -0.9
+        qpos[14] = joint_arc[13] * -0.9
+        qpos[15] = joint_arc[12] * -1
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l25.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l25.py
new file mode 100644
index 0000000..bc32533
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l25.py
@@ -0,0 +1,202 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1  # 侧摆
+        qpos[17] = joint_arc[20] * 2.6  # 旋转
+        qpos[18] = joint_arc[2] * -0.5  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1.5  # 远端关节
+        if joint_arc[0] > -40 * 3.14 / 180:
+            qpos[18] = 0
+            qpos[19] = 0
+            qpos[20] = 0
+
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+        if joint_arc[18] > -70 * 3.14 / 180: qpos[6] = 0
+        if joint_arc[18] > -70 * 3.14 / 180: qpos[7] = 0
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1 - 0.4  # 侧摆
+        qpos[17] = joint_arc[20] * 2 - 0.2  # 旋转
+        qpos[18] = joint_arc[2] * -0.2  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1  # 远端关节
+        if joint_arc[0] > -50 * 3.14 / 180:
+            qpos[18] = 0.2
+            qpos[19] = 0
+            qpos[20] = 0
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+        if joint_arc[18] > -75 * 3.14 / 180: qpos[6] = 0
+        if joint_arc[18] > -75 * 3.14 / 180: qpos[7] = 0
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * 0
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l6.py
new file mode 100644
index 0000000..81715cd
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l6.py
@@ -0,0 +1,181 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.2  # 侧摆
+        qpos[17] = joint_arc[20] * 2.4  # 旋转
+        qpos[18] = joint_arc[2] * -0.3878  # 根部关节
+        qpos[19] = joint_arc[1] * -0.66845 # 中部关节
+        qpos[20] = joint_arc[0] * -0.8 # 远端关节
+
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -0.7
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -0.7
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -1.0098
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -0.7
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1  # 侧摆
+        qpos[17] = joint_arc[20] * 1.5 # 旋转
+        qpos[18] = joint_arc[2] * -0.9 # 根部关节
+        qpos[19] = joint_arc[1] * -0.8  # 中部关节
+        qpos[20] = joint_arc[0] * -0.8 # 远端关节
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -0.8
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -0.8
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * -1.0098
+        qpos[9] = joint_arc[10] * -0.8
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -0.8  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l7.py
new file mode 100644
index 0000000..7707080
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_l7.py
@@ -0,0 +1,181 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.2  # 侧摆
+        qpos[17] = joint_arc[20] * 2.4  # 旋转
+        qpos[18] = joint_arc[2] * -0.3878  # 根部关节
+        qpos[19] = joint_arc[1] * -0.66845 # 中部关节
+        qpos[20] = joint_arc[0] * -0.8 # 远端关节
+
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -0.7
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -0.7
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -1.0098
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -0.7
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[2] * -0.5  # 旋转
+        qpos[17] = joint_arc[20] * 0.8 # 侧摆
+        qpos[18] = joint_arc[2] * -0.9 # 根部关节
+        qpos[19] = joint_arc[1] * -0.8  # 中部关节
+        qpos[20] = joint_arc[0] * -0.5 # 远端关节
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * -1.0098
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_o6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_o6.py
new file mode 100644
index 0000000..a6cf885
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/hand/simulator_o6.py
@@ -0,0 +1,181 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.2  # 侧摆
+        qpos[17] = joint_arc[20] * 2.4  # 旋转
+        qpos[18] = joint_arc[2] * -0.3878  # 根部关节
+        qpos[19] = joint_arc[1] * -0.66845 # 中部关节
+        qpos[20] = joint_arc[0] * -0.1 # 远端关节
+
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1  # 侧摆
+        qpos[17] = joint_arc[20] * 2 # 旋转
+        qpos[18] = joint_arc[2] * -0.9 # 根部关节
+        qpos[19] = joint_arc[1] * -0.8  # 中部关节
+        qpos[20] = joint_arc[0] * -0.3 # 远端关节
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -11
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/retarget.py b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/retarget.py
new file mode 100644
index 0000000..0664155
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/simulator/retarget.py
@@ -0,0 +1,232 @@
+
+import time
+import sapien
+import tyro
+import rclpy
+import numpy as np
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from datetime import datetime
+from pathlib import Path
+from loguru import logger
+from sapien.asset import create_dome_envmap
+from sapien.utils import Viewer
+
+from ...linkerhand.handcore import HandCore
+from ...linkerhand.constants import (
+    RetargetingType, 
+    DataSource, 
+    ROBOT_LEN_MAP,
+    MotionSource, 
+    RobotName, 
+    HandType, 
+    get_default_config_path,
+)
+from ...linkerhand.retargeting_config import RetargetingConfig
+
+LOG_FILE_PATH = "/tmp/b.log"
+
+class Retarget():
+    def __init__(self,node, ip, port, deviceid, lefthand: RobotName, righthand: RobotName, handcore: HandCore,
+                lefthandpubprint: bool, righthandpubprint: bool):
+        self.node = node
+        self.udp_ip = ip
+        self.udp_port = port
+        self.motion_device = deviceid
+        self.lefthandtype = lefthand
+        self.righthandtype = righthand
+        self.handcore = handcore
+        self.runing = True
+        self.lefthandpubprint = lefthandpubprint
+        self.righthandpubprint = righthandpubprint
+        
+        # 根据右手类型初始化
+        if self.righthandtype == RobotName.o7 \
+            or self.righthandtype == RobotName.l7 \
+            or self.righthandtype == RobotName.o7v1 \
+            or self.righthandtype == RobotName.o7v2:
+            from .hand.simulator_l7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.o6:
+            from .hand.simulator_o6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l6:
+            from .hand.simulator_l6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        # elif self.righthandtype == RobotName.l25:
+        #     from .hand.simulator_l25 import RightHand
+        #     self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        # elif self.righthandtype == RobotName.t25:
+        #     from .hand.simulator_t25 import RightHand
+        #     self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l20:
+            from .hand.simulator_l20 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l10 \
+            or self.righthandtype == RobotName.l10v7 :
+            from .hand.simulator_l10v7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l21:
+            from .hand.simulator_l21 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+
+        # 根据LEFT手类型初始化
+        if self.lefthandtype == RobotName.o7 \
+            or self.lefthandtype == RobotName.l7 \
+            or self.lefthandtype == RobotName.o7v1 \
+            or self.lefthandtype == RobotName.o7v2:
+            from .hand.simulator_l7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.o6:
+            from .hand.simulator_o6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l6:
+            from .hand.simulator_l6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l25:
+            from .hand.simulator_l25 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        # elif self.lefthandtype == RobotName.t25:
+        #     from .hand.simulator_t25 import LeftHand
+        #     self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l20:
+            from .hand.simulator_l20 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l10 \
+            or self.lefthandtype == RobotName.l10v7 :
+            from .hand.simulator_l10v7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l21:
+            from .hand.simulator_l21 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+
+        # ROS2 发布器
+        self.publisher_r = self.node.create_publisher(
+            JointState,
+            '/cb_right_hand_control_cmd',
+            self.handcore.hand_numjoints_r)
+            
+        self.publisher_l = self.node.create_publisher(
+            JointState,
+            '/cb_left_hand_control_cmd',
+            self.handcore.hand_numjoints_l)
+            
+        self.timer = self.node.create_timer(1.0/120, self.process_callback)  # 120Hz
+        self.pubprintcount = 0
+        self.udp_datacapture = None
+
+    def sapien_init(self):
+        sapien.render.set_viewer_shader_dir("default")
+        sapien.render.set_camera_shader_dir("default")
+
+        config = RetargetingConfig.load_from_file(self.config_path)
+
+        # Setup
+        scene = sapien.Scene()
+        render_mat = sapien.render.RenderMaterial()
+        render_mat.base_color = [0.06, 0.08, 0.12, 1]
+        render_mat.metallic = 0.0
+        render_mat.roughness = 0.9
+        render_mat.specular = 0.8
+        scene.add_ground(-0.2, render_material=render_mat, render_half_size=[1000, 1000])
+
+        # Lighting
+        scene.add_directional_light(np.array([1, 1, -1]), np.array([3, 3, 3]))
+        scene.add_point_light(np.array([2, 2, 2]), np.array([2, 2, 2]), shadow=False)
+        scene.add_point_light(np.array([2, -2, 2]), np.array([2, 2, 2]), shadow=False)
+        scene.set_environment_map(
+            create_dome_envmap(sky_color=[0.2, 0.2, 0.2], ground_color=[0.2, 0.2, 0.2])
+        )
+        scene.add_area_light_for_ray_tracing(
+            sapien.Pose([2, 1, 2], [0.707, 0, 0.707, 0]), np.array([1, 1, 1]), 5, 5
+        )
+
+        # Camera
+        cam = scene.add_camera(
+            name="Cheese!", width=600, height=600, fovy=1, near=0.1, far=10
+        )
+        cam.set_local_pose(sapien.Pose([0.50, 0, 0.0], [0, 0, 0, -1]))
+
+        self.viewer = Viewer()
+        self.viewer.set_scene(scene)
+        self.viewer.control_window.show_origin_frame = False
+        self.viewer.control_window.move_speed = 0.01
+        self.viewer.control_window.toggle_camera_lines(False)
+        self.viewer.set_camera_pose(cam.get_local_pose())
+
+        # Load robot and set it to a good pose to take picture
+        loader = scene.create_urdf_loader()
+        filepath = Path(config.urdf_path)
+        robot_name = filepath.stem
+        loader.load_multiple_collisions_from_file = True
+        loader.scale = 1.5
+
+        filepath = str(filepath)
+        self.robot = loader.load(filepath)
+        self.robot.set_pose(sapien.Pose([0, 0, -0.13]))
+
+        # Different robot loader may have different orders for joints
+        self.sapien_joint_names = [joint.get_name() for joint in self.robot.get_active_joints()]
+        retargeting_joint_names = self.retargeting.joint_names
+        retargeting_to_sapien = np.array(
+            [retargeting_joint_names.index(name) for name in self.sapien_joint_names]
+        ).astype(int)
+
+        self.qpos = [0] * len(self.sapien_joint_names)
+
+    def process_callback(self):
+        self.viewer.render()
+        
+        """定时器回调函数，处理数据并发布"""
+        if not self.udp_datacapture or not self.udp_datacapture.udp_is_onnect():
+            self.node.get_logger().warning("侦测到UDP断开状态，正在重连！")
+            if not self.initialize_udp():
+                self.node.get_logger().error("UDP重连失败")
+                return
+            time.sleep(2)
+            return
+
+        mocapdata = self.udp_datacapture.realmocapdata
+        if not mocapdata.is_update:
+            return
+
+        # 处理左右手原始数据
+        self.lefthand.joint_update(mocapdata.jointangle_lHand)
+        self.righthand.joint_update(mocapdata.jointangle_rHand)
+
+        # 速度环节处理
+        self.lefthand.speed_update()
+        self.righthand.speed_update()
+
+        # self.quick_log(self.lefthand.g_jointpositions[1],LOG_FILE_PATH,"SEND")
+
+        # 调试打印
+        if self.lefthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"左手位置: {self.lefthand.g_jointpositions}")
+        if self.righthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"右手位置: {self.righthand.g_jointpositions}")
+
+        # 发布右手数据
+        msg_r = JointState()
+        msg_r.header.stamp = self.node.get_clock().now().to_msg()
+        msg_r.name = [f'joint{i + 1}' for i in range(len(self.righthand.g_jointpositions))]
+        msg_r.position = [float(num) for num in self.righthand.g_jointpositions]
+        msg_r.velocity = [float(num) for num in self.righthand.g_jointvelocity]
+        self.publisher_r.publish(msg_r)
+
+        # 发布左手数据
+        msg_l = JointState()
+        msg_l.header.stamp = self.node.get_clock().now().to_msg()
+        msg_l.name = [f'joint{i + 1}' for i in range(len(self.lefthand.g_jointpositions))]
+        msg_l.position = [float(num) for num in self.lefthand.g_jointpositions]
+        msg_l.velocity = [float(num) for num in self.lefthand.g_jointvelocity]
+        self.publisher_l.publish(msg_l)
+
+        self.pubprintcount += 1
+
+    def process(self):
+        """主处理函数"""
+        if not self.initialize_udp():
+            self.node.get_logger().error("初始化配置网络失败")
+            return
+
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/README.md b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/README.md
new file mode 100644
index 0000000..28259bb
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/README.md
@@ -0,0 +1,62 @@
+# UdexReal (LinkerTG) Data Glove Module
+
+UdexReal / LinkerTG data glove ROS2 driver module, receives glove data via UDP and publishes to ROS2 topics.
+
+## Features
+
+- Receives glove data via UDP protocol
+- Supports left and right hand data
+- 50Hz publish rate
+
+## Usage
+
+### 1. Config File
+
+Edit `config/base_config.yml`:
+
+```yaml
+system:
+  motion_type: udexreal
+
+udp:
+  ip: "0.0.0.0"
+  port: 8888
+```
+
+### 2. Launch
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+## ROS2 Topics
+
+### Published Topics
+
+| Topic | Message Type | Description |
+|-------|-------------|-------------|
+| `/cb_right_hand_control_cmd` | `sensor_msgs/JointState` | Right hand control data |
+| `/cb_left_hand_control_cmd` | `sensor_msgs/JointState` | Left hand control data |
+
+### Message Format
+
+```python
+# sensor_msgs/JointState
+msg.header.stamp  # Timestamp
+msg.name          # Joint name list
+msg.position      # Joint position values
+```
+
+## File Structure
+
+```
+motion/udexreal/
+├── __init__.py
+├── retarget.py      # ROS2 integration
+└── README.md        # English documentation
+```
+
+## Notes
+
+1. Ensure UDP port is not occupied
+2. Glove and host must be on the same network
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/README_zh.md b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/README_zh.md
new file mode 100644
index 0000000..9c2ecd8
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/README_zh.md
@@ -0,0 +1,62 @@
+# UdexReal (LinkerTG) 数据手套模块
+
+UdexReal / LinkerTG 数据手套的 ROS2 驱动模块，通过 UDP 接收手套数据并发布到 ROS2 话题。
+
+## 特性
+
+- 通过 UDP 协议接收手套数据
+- 支持左右手数据
+- 发布频率 50Hz
+
+## 使用方法
+
+### 1. 配置文件
+
+修改 `config/base_config.yml`:
+
+```yaml
+system:
+  motion_type: udexreal
+
+udp:
+  ip: "0.0.0.0"
+  port: 8888
+```
+
+### 2. 运行
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+## ROS2 话题
+
+### 发布话题
+
+| 话题名 | 消息类型 | 说明 |
+|-------|---------|------|
+| `/cb_right_hand_control_cmd` | `sensor_msgs/JointState` | 右手控制数据 |
+| `/cb_left_hand_control_cmd` | `sensor_msgs/JointState` | 左手控制数据 |
+
+### 消息格式
+
+```python
+# sensor_msgs/JointState
+msg.header.stamp  # 时间戳
+msg.name          # 关节名称列表
+msg.position      # 关节位置值
+```
+
+## 文件结构
+
+```
+motion/udexreal/
+├── __init__.py
+├── retarget.py      # ROS2 集成
+└── README.md        # 本文档
+```
+
+## 注意事项
+
+1. 确保 UDP 端口未被占用
+2. 手套与主机需在同一网络
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l10v7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l10v7.py
new file mode 100644
index 0000000..832eac6
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l10v7.py
@@ -0,0 +1,180 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.3        # 旋转
+        qpos[17] = joint_arc[20] * 2.6        # 侧摆
+        # qpos[18] = joint_arc[2] * 0           # 根部关节
+        # qpos[19] = joint_arc[1] * 0           # 中部关节
+        qpos[20] = joint_arc[0] * -0.6        # 远端关节
+        # print(qpos[16],qpos[17])
+
+        
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -0.7
+        # qpos[2] = joint_arc[5] * -1
+        # qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -0.7  
+        # qpos[6] = joint_arc[17] * -1
+        # qpos[7] = joint_arc[16] * -1
+
+        # qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -0.7
+        # qpos[10] = joint_arc[9] * -1
+        # qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -0.7
+        # qpos[14] = joint_arc[13] * -1
+        # qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1        # 旋转
+        qpos[17] = joint_arc[2] * -1        # 侧摆
+        qpos[18] = joint_arc[2] * 0        # 根部关节
+        qpos[19] = joint_arc[1] * 0 # 中部关节
+        qpos[20] = joint_arc[1] * -1 # 远端关节
+        # print(qpos[16],qpos[17])
+        qpos[0] = joint_arc[7]  * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l20.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l20.py
new file mode 100644
index 0000000..2e8790c
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l20.py
@@ -0,0 +1,176 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1
+        qpos[17] = joint_arc[20] * 1
+        qpos[18] = joint_arc[1] * -1
+        qpos[19] = joint_arc[0] * -1
+
+        qpos[0] = joint_arc[7] * 1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19] * 1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15] * 1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_rimit = 2
+            fast_rimit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_rimit < position_error < fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_rimit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = (joint_arc[2] * -1 - 0.3)
+        qpos[17] = joint_arc[20] * 1
+        qpos[18] = joint_arc[1] * -1
+        qpos[19] = joint_arc[0] * 0
+
+        qpos[0] = joint_arc[7] * 1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19] * 1
+        
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11] * 1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+        
+
+        qpos[12] = joint_arc[15] * 1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 2
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l21.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l21.py
new file mode 100644
index 0000000..d9ee68e
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l21.py
@@ -0,0 +1,192 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1    # 侧摆
+        qpos[17] = joint_arc[20] * 2    # 旋转 
+        qpos[18] = joint_arc[2] * -0.5  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1  # 远端关节
+
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -0.9
+        qpos[2] = joint_arc[5] * -0.9
+        qpos[3] = joint_arc[4] * -1
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -0.9
+        qpos[6] = joint_arc[17] * -0.9
+        qpos[7] = joint_arc[16] * -1
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[6] = 0
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[7] = 0
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -0.9
+        qpos[10] = joint_arc[9] * -0.9
+        qpos[11] = joint_arc[8] * -1
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -0.9
+        qpos[14] = joint_arc[13] * -0.9
+        qpos[15] = joint_arc[12] * -1
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.5    # 侧摆
+        qpos[17] = joint_arc[20] * 3    # 旋转 
+        qpos[18] = joint_arc[2] * -0.5  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1  # 远端关节
+
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -0.9
+        qpos[2] = joint_arc[5] * -0.9
+        qpos[3] = joint_arc[4] * -1
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -0.9
+        qpos[6] = joint_arc[17] * -0.9
+        qpos[7] = joint_arc[16] * -1
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[6] = 0
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[7] = 0
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -0.9
+        qpos[10] = joint_arc[9] * -0.9
+        qpos[11] = joint_arc[8] * -1
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -0.9
+        qpos[14] = joint_arc[13] * -0.9
+        qpos[15] = joint_arc[12] * -1
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l25.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l25.py
new file mode 100644
index 0000000..bc32533
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l25.py
@@ -0,0 +1,202 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1  # 侧摆
+        qpos[17] = joint_arc[20] * 2.6  # 旋转
+        qpos[18] = joint_arc[2] * -0.5  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1.5  # 远端关节
+        if joint_arc[0] > -40 * 3.14 / 180:
+            qpos[18] = 0
+            qpos[19] = 0
+            qpos[20] = 0
+
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+        if joint_arc[18] > -70 * 3.14 / 180: qpos[6] = 0
+        if joint_arc[18] > -70 * 3.14 / 180: qpos[7] = 0
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1 - 0.4  # 侧摆
+        qpos[17] = joint_arc[20] * 2 - 0.2  # 旋转
+        qpos[18] = joint_arc[2] * -0.2  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1  # 远端关节
+        if joint_arc[0] > -50 * 3.14 / 180:
+            qpos[18] = 0.2
+            qpos[19] = 0
+            qpos[20] = 0
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+        if joint_arc[18] > -75 * 3.14 / 180: qpos[6] = 0
+        if joint_arc[18] > -75 * 3.14 / 180: qpos[7] = 0
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * 0
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l6.py
new file mode 100644
index 0000000..81715cd
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l6.py
@@ -0,0 +1,181 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.2  # 侧摆
+        qpos[17] = joint_arc[20] * 2.4  # 旋转
+        qpos[18] = joint_arc[2] * -0.3878  # 根部关节
+        qpos[19] = joint_arc[1] * -0.66845 # 中部关节
+        qpos[20] = joint_arc[0] * -0.8 # 远端关节
+
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -0.7
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -0.7
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -1.0098
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -0.7
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1  # 侧摆
+        qpos[17] = joint_arc[20] * 1.5 # 旋转
+        qpos[18] = joint_arc[2] * -0.9 # 根部关节
+        qpos[19] = joint_arc[1] * -0.8  # 中部关节
+        qpos[20] = joint_arc[0] * -0.8 # 远端关节
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -0.8
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -0.8
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * -1.0098
+        qpos[9] = joint_arc[10] * -0.8
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -0.8  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l7.py
new file mode 100644
index 0000000..7707080
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_l7.py
@@ -0,0 +1,181 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.2  # 侧摆
+        qpos[17] = joint_arc[20] * 2.4  # 旋转
+        qpos[18] = joint_arc[2] * -0.3878  # 根部关节
+        qpos[19] = joint_arc[1] * -0.66845 # 中部关节
+        qpos[20] = joint_arc[0] * -0.8 # 远端关节
+
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -0.7
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -0.7
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -1.0098
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -0.7
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[2] * -0.5  # 旋转
+        qpos[17] = joint_arc[20] * 0.8 # 侧摆
+        qpos[18] = joint_arc[2] * -0.9 # 根部关节
+        qpos[19] = joint_arc[1] * -0.8  # 中部关节
+        qpos[20] = joint_arc[0] * -0.5 # 远端关节
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * -1.0098
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_o6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_o6.py
new file mode 100644
index 0000000..a6cf885
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/hand/udexreal_o6.py
@@ -0,0 +1,181 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.2  # 侧摆
+        qpos[17] = joint_arc[20] * 2.4  # 旋转
+        qpos[18] = joint_arc[2] * -0.3878  # 根部关节
+        qpos[19] = joint_arc[1] * -0.66845 # 中部关节
+        qpos[20] = joint_arc[0] * -0.1 # 远端关节
+
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1  # 侧摆
+        qpos[17] = joint_arc[20] * 2 # 旋转
+        qpos[18] = joint_arc[2] * -0.9 # 根部关节
+        qpos[19] = joint_arc[1] * -0.8  # 中部关节
+        qpos[20] = joint_arc[0] * -0.3 # 远端关节
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -11
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/retarget.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/retarget.py
new file mode 100644
index 0000000..76a1080
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexreal/retarget.py
@@ -0,0 +1,189 @@
+
+import time
+import sys
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from datetime import datetime
+from pathlib import Path
+
+# 将项目根目录放在最前面
+# 强制使用项目本地的 linkerhand 模块
+_project_root = Path(__file__).absolute().parent.parent.parent
+_project_root_str = str(_project_root)
+
+if _project_root_str in sys.path:
+    sys.path.remove(_project_root_str)
+sys.path.insert(0, _project_root_str)
+from linkerhand.udexrealcore import UdexRealScoketUdp, TimeoutStatus, UdexRealData
+from linkerhand.handcore import HandCore
+
+from linkerhand.constants import RobotName, ROBOT_LEN_MAP
+
+
+LOG_FILE_PATH = "/tmp/b.log"
+
+class Retarget():
+    def __init__(self,node, ip, port, deviceid, lefthand: RobotName, righthand: RobotName, handcore: HandCore,
+                lefthandpubprint: bool, righthandpubprint: bool):
+        self.node = node
+        self.udp_ip = ip
+        self.udp_port = port
+        self.motion_device = deviceid
+        self.lefthandtype = lefthand
+        self.righthandtype = righthand
+        self.handcore = handcore
+        self.runing = True
+        self.lefthandpubprint = lefthandpubprint
+        self.righthandpubprint = righthandpubprint
+        
+        # 根据右手类型初始化
+        if self.righthandtype == RobotName.o7 \
+            or self.righthandtype == RobotName.l7 \
+            or self.righthandtype == RobotName.o7v1 \
+            or self.righthandtype == RobotName.o7v3:
+            from .hand.udexreal_l7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.o6:
+            from .hand.udexreal_o6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l6:
+            from .hand.udexreal_l6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l25 \
+            or self.righthandtype == RobotName.g20:
+            from .hand.udexreal_l25 import RightHand
+        #     self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        # elif self.righthandtype == RobotName.t25:
+        #     from .hand.udexreal_t25 import RightHand
+        #     self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l20:
+            from .hand.udexreal_l20 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l10 \
+            or self.righthandtype == RobotName.l10v7 :
+            from .hand.udexreal_l10v7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+
+        else:
+            print("未正确定义机械左手对象，请检查支持清单列表!")
+
+        # 根据LEFT手类型初始化
+        if self.lefthandtype == RobotName.o7 \
+            or self.lefthandtype == RobotName.l7 \
+            or self.lefthandtype == RobotName.o7v1 \
+            or self.lefthandtype == RobotName.o7v3:
+            from .hand.udexreal_l7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.o6:
+            from .hand.udexreal_o6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l6:
+            from .hand.udexreal_l6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l25 \
+            or self.lefthandtype == RobotName.g20:
+            from .hand.udexreal_l25 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        # elif self.lefthandtype == RobotName.t25:
+        #     from .hand.udexreal_t25 import LeftHand
+        #     self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l20:
+            from .hand.udexreal_l20 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l10 \
+            or self.lefthandtype == RobotName.l10v7 :
+            from .hand.udexreal_l10v7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        else:
+            print("未正确定义机械右手对象，请检查支持清单列表!")
+
+        # ROS2 发布器
+        self.publisher_r = self.node.create_publisher(
+            JointState,
+            '/cb_right_hand_control_cmd',
+            self.handcore.hand_numjoints_r)
+            
+        self.publisher_l = self.node.create_publisher(
+            JointState,
+            '/cb_left_hand_control_cmd',
+            self.handcore.hand_numjoints_l)
+            
+        self.timer = self.node.create_timer(1.0/120, self.process_callback)  # 120Hz
+        self.pubprintcount = 0
+        self.udp_datacapture = None
+
+    def initialize_udp(self):
+        """初始化UDP连接"""
+        self.udp_datacapture = UdexRealScoketUdp(
+            host=self.udp_ip,
+            port=self.udp_port,
+            device_id=self.motion_device)
+        self.udp_datacapture.set_timeout_callback(self.on_timeout_callback)
+        self.udp_datacapture.set_data_recovered_callback(self.on_data_recovered_callback)
+        return self.udp_datacapture.udp_initial()
+
+    def on_timeout_callback(self, status: TimeoutStatus):
+        """超时回调函数"""
+        # if status.consecutive_timeout_checks == 1:  # 第一次超时
+        #     print(f"[{datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] "
+        #           f"警告: 数据接收超时，{status.time_since_last_data:.1f}秒未收到数据")
+        if status.consecutive_timeout_checks % 1 == 0:  # 每10次检查打印一次
+            print(f"[{datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] "
+                f"警告: 数据接收超时，{status.time_since_last_data:.1f}秒未收到数据")
+
+    def on_data_recovered_callback(self):
+        """数据恢复回调函数"""
+        print(f"[{datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] 数据连接已恢复")
+
+
+    def process_callback(self):
+        if not self.runing:
+            return
+        
+        mocapdata = self.udp_datacapture.realmocapdata
+
+        # 检查数据是否更新
+        if not mocapdata.is_update:
+            return
+
+        # 处理左右手原始数据
+        self.lefthand.joint_update(mocapdata.jointangle_lHand)
+        self.righthand.joint_update(mocapdata.jointangle_rHand)
+
+        # 速度环节处理
+        self.lefthand.speed_update()
+        self.righthand.speed_update()
+
+        # self.quick_log(self.lefthand.g_jointpositions[1],LOG_FILE_PATH,"SEND")
+
+        # 调试打印
+        if self.lefthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"左手位置: {self.lefthand.g_jointpositions}")
+        if self.righthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"右手位置: {self.righthand.g_jointpositions}")
+
+        # 发布右手数据
+        msg_r = JointState()
+        msg_r.header.stamp = self.node.get_clock().now().to_msg()
+        msg_r.name = [f'joint{i + 1}' for i in range(len(self.righthand.g_jointpositions))]
+        msg_r.position = [float(num) for num in self.righthand.g_jointpositions]
+        msg_r.velocity = [float(num) for num in self.righthand.g_jointvelocity]
+        self.publisher_r.publish(msg_r)
+
+        # 发布左手数据
+        msg_l = JointState()
+        msg_l.header.stamp = self.node.get_clock().now().to_msg()
+        msg_l.name = [f'joint{i + 1}' for i in range(len(self.lefthand.g_jointpositions))]
+        msg_l.position = [float(num) for num in self.lefthand.g_jointpositions]
+        msg_l.velocity = [float(num) for num in self.lefthand.g_jointvelocity]
+        self.publisher_l.publish(msg_l)
+
+        self.pubprintcount += 1
+
+    def process(self):
+        """主处理函数"""
+        if not self.initialize_udp():
+            self.node.get_logger().error("初始化配置网络失败")
+            return
+
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/config/l6_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/config/l6_config.py
new file mode 100644
index 0000000..d896fc9
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/config/l6_config.py
@@ -0,0 +1,61 @@
+# 手指配置常量
+FINGER_CONFIGS = {
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [0, 1, 2],
+        'weights': [0.3, 0.4, 0.3],
+        'robot_idx': 0,
+        'type': 'thumb'
+    },
+    'thumb_flexion': {
+        'name': '拇指弯曲',
+        'joints': [2, 3, 4],
+        'weights': [0.3, 0.0, 0.7],
+        'robot_idx': 1,
+        'type': 'thumb'
+    },
+    'index': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': [0.5, 0.3, 0.2],
+        'robot_idx': 3,
+        'type': 'finger'
+    },
+    'middle': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': [0.5, 0.1, 0.4],
+        'robot_idx': 5,
+        'type': 'finger'
+    },
+    'ring': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': [0.5, 0.1, 0.4],
+        'robot_idx': 7,
+        'type': 'finger'
+    },
+    'pinky': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': [0.5, 0.1, 0.4],
+        'robot_idx': 9,
+        'type': 'finger'
+    }
+}
+
+# 映射顺序
+MAPPING_ORDER = [
+    'thumb_abduction', 'thumb_flexion', 
+    'index', 'middle', 'ring', 'pinky'
+]
+
+# 三态默认配置
+MULTI_SEGMENT_CONFIG = {
+    'states': ['original', 'opose', 'fist'],
+    'state_names': {
+        'original': '张手',
+        'opose': 'O手势',
+        'fist': '握拳'
+    }
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/config/o6_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/config/o6_config.py
new file mode 100644
index 0000000..bdd9a92
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/config/o6_config.py
@@ -0,0 +1,61 @@
+# 手指配置常量
+FINGER_CONFIGS = {
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [20],
+        'weights': [1],
+        'robot_idx': 0,
+        'type': 'thumb'
+    },
+    'thumb_flexion': {
+        'name': '拇指弯曲',
+        'joints': [0, 1, 2],
+        'weights': [0.6, 0.3, 0.1],
+        'robot_idx': 1,
+        'type': 'thumb'
+    },
+    'index': {
+        'name': '食指',
+        'joints': [4, 5, 6],
+        'weights': [0.6, 0.3, 0.1],
+        'robot_idx': 3,
+        'type': 'finger'
+    },
+    'middle': {
+        'name': '中指',
+        'joints': [8, 9, 10],
+        'weights': [0.6, 0.3, 0.1],
+        'robot_idx': 5,
+        'type': 'finger'
+    },
+    'ring': {
+        'name': '无名指',
+        'joints': [12, 13, 14],
+        'weights': [0.6, 0.3, 0.1],
+        'robot_idx': 7,
+        'type': 'finger'
+    },
+    'pinky': {
+        'name': '小指',
+        'joints': [16, 17, 18],
+        'weights': [0.6, 0.3, 0.1],
+        'robot_idx': 9,
+        'type': 'finger'
+    }
+}
+
+# 映射顺序
+MAPPING_ORDER = [
+    'thumb_abduction', 'thumb_flexion', 
+    'index', 'middle', 'ring', 'pinky'
+]
+
+# 三态默认配置
+MULTI_SEGMENT_CONFIG = {
+    'states': ['original', 'opose', 'fist'],
+    'state_names': {
+        'original': '张手',
+        'opose': 'O手势',
+        'fist': '握拳'
+    }
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/config/o7_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/config/o7_config.py
new file mode 100644
index 0000000..2e0b543
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/config/o7_config.py
@@ -0,0 +1,68 @@
+# 手指配置常量
+FINGER_CONFIGS = {
+    'thumb_rotate': {
+        'name': '拇指旋转',
+        'joints': [1, 2],
+        'weights': [0.3, 0.7],
+        'robot_idx': 0,
+        'type': 'thumb'
+    },
+    'thumb_abduction': {
+        'name': '拇指侧摆',
+        'joints': [0, 1, 2],
+        'weights': [0.6, 0.1, 0.3],
+        'robot_idx': 1,
+        'type': 'thumb'
+    },
+    'thumb_flexion': {
+        'name': '拇指弯曲',
+        'joints': [2, 3, 4],
+        'weights': [0.3, 0.1, 0.6],
+        'robot_idx': 2,
+        'type': 'thumb'
+    },
+    'index': {
+        'name': '食指',
+        'joints': [6, 7, 8],
+        'weights': [0.5, 0.3, 0.2],
+        'robot_idx': 5,
+        'type': 'finger'
+    },
+    'middle': {
+        'name': '中指',
+        'joints': [10, 11, 12],
+        'weights': [0.5, 0.3, 0.2],
+        'robot_idx': 8,
+        'type': 'finger'
+    },
+    'ring': {
+        'name': '无名指',
+        'joints': [14, 15, 16],
+        'weights': [0.5, 0.3, 0.2],
+        'robot_idx': 11,
+        'type': 'finger'
+    },
+    'pinky': {
+        'name': '小指',
+        'joints': [18, 19, 20],
+        'weights': [0.5, 0.3, 0.2],
+        'robot_idx': 14,
+        'type': 'finger'
+    }
+}
+
+# 映射顺序
+MAPPING_ORDER = [
+    'thumb_rotate', 'thumb_abduction', 'thumb_flexion', 
+    'index', 'middle', 'ring', 'pinky'
+]
+
+# 三态默认配置
+MULTI_SEGMENT_CONFIG = {
+    'states': ['original', 'opose', 'fist'],
+    'state_names': {
+        'original': '张手',
+        'opose': 'O手势',
+        'fist': '握拳'
+    }
+}
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l10v7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l10v7.py
new file mode 100644
index 0000000..832eac6
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l10v7.py
@@ -0,0 +1,180 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.3        # 旋转
+        qpos[17] = joint_arc[20] * 2.6        # 侧摆
+        # qpos[18] = joint_arc[2] * 0           # 根部关节
+        # qpos[19] = joint_arc[1] * 0           # 中部关节
+        qpos[20] = joint_arc[0] * -0.6        # 远端关节
+        # print(qpos[16],qpos[17])
+
+        
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -0.7
+        # qpos[2] = joint_arc[5] * -1
+        # qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -0.7  
+        # qpos[6] = joint_arc[17] * -1
+        # qpos[7] = joint_arc[16] * -1
+
+        # qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -0.7
+        # qpos[10] = joint_arc[9] * -1
+        # qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -0.7
+        # qpos[14] = joint_arc[13] * -1
+        # qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1        # 旋转
+        qpos[17] = joint_arc[2] * -1        # 侧摆
+        qpos[18] = joint_arc[2] * 0        # 根部关节
+        qpos[19] = joint_arc[1] * 0 # 中部关节
+        qpos[20] = joint_arc[1] * -1 # 远端关节
+        # print(qpos[16],qpos[17])
+        qpos[0] = joint_arc[7]  * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l20.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l20.py
new file mode 100644
index 0000000..2e8790c
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l20.py
@@ -0,0 +1,176 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1
+        qpos[17] = joint_arc[20] * 1
+        qpos[18] = joint_arc[1] * -1
+        qpos[19] = joint_arc[0] * -1
+
+        qpos[0] = joint_arc[7] * 1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19] * 1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15] * 1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_rimit = 2
+            fast_rimit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_rimit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_rimit < position_error < fast_rimit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_rimit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = (joint_arc[2] * -1 - 0.3)
+        qpos[17] = joint_arc[20] * 1
+        qpos[18] = joint_arc[1] * -1
+        qpos[19] = joint_arc[0] * 0
+
+        qpos[0] = joint_arc[7] * 1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19] * 1
+        
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11] * 1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+        
+
+        qpos[12] = joint_arc[15] * 1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 2
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.8)
+            min_vel = int(self.last_jointvelocity[i] * 0.6)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 10 + 5
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 10 + 10
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 10 + 50
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 10 + 30
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 10 + 10
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity [i] = int(target_vel)
+
+            if self.g_jointvelocity [i] > 255:
+                self.g_jointvelocity [i] = 255
+            self.g_jointvelocity [i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity [i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l21.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l21.py
new file mode 100644
index 0000000..d9ee68e
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l21.py
@@ -0,0 +1,192 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1    # 侧摆
+        qpos[17] = joint_arc[20] * 2    # 旋转 
+        qpos[18] = joint_arc[2] * -0.5  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1  # 远端关节
+
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -0.9
+        qpos[2] = joint_arc[5] * -0.9
+        qpos[3] = joint_arc[4] * -1
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -0.9
+        qpos[6] = joint_arc[17] * -0.9
+        qpos[7] = joint_arc[16] * -1
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[6] = 0
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[7] = 0
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -0.9
+        qpos[10] = joint_arc[9] * -0.9
+        qpos[11] = joint_arc[8] * -1
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -0.9
+        qpos[14] = joint_arc[13] * -0.9
+        qpos[15] = joint_arc[12] * -1
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.5    # 侧摆
+        qpos[17] = joint_arc[20] * 3    # 旋转 
+        qpos[18] = joint_arc[2] * -0.5  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1  # 远端关节
+
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -0.9
+        qpos[2] = joint_arc[5] * -0.9
+        qpos[3] = joint_arc[4] * -1
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        # if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -0.9
+        qpos[6] = joint_arc[17] * -0.9
+        qpos[7] = joint_arc[16] * -1
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[6] = 0
+        # if joint_arc[18] > -75 * 3.14 / 180: qpos[7] = 0
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -0.9
+        qpos[10] = joint_arc[9] * -0.9
+        qpos[11] = joint_arc[8] * -1
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        # if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -0.9
+        qpos[14] = joint_arc[13] * -0.9
+        qpos[15] = joint_arc[12] * -1
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        # if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l25.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l25.py
new file mode 100644
index 0000000..bc32533
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l25.py
@@ -0,0 +1,202 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1  # 侧摆
+        qpos[17] = joint_arc[20] * 2.6  # 旋转
+        qpos[18] = joint_arc[2] * -0.5  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1.5  # 远端关节
+        if joint_arc[0] > -40 * 3.14 / 180:
+            qpos[18] = 0
+            qpos[19] = 0
+            qpos[20] = 0
+
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+        if joint_arc[18] > -70 * 3.14 / 180: qpos[6] = 0
+        if joint_arc[18] > -70 * 3.14 / 180: qpos[7] = 0
+
+        qpos[8] = joint_arc[11] * -1
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions[6:4] = [128, 128, 128, 128]
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1 - 0.4  # 侧摆
+        qpos[17] = joint_arc[20] * 2 - 0.2  # 旋转
+        qpos[18] = joint_arc[2] * -0.2  # 根部关节
+        qpos[19] = joint_arc[1] * -1  # 中部关节
+        qpos[20] = joint_arc[0] * -1  # 远端关节
+        if joint_arc[0] > -50 * 3.14 / 180:
+            qpos[18] = 0.2
+            qpos[19] = 0
+            qpos[20] = 0
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[2] = 0
+        if joint_arc[6] > -80 * 3.14 / 180: qpos[3] = 0
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+        if joint_arc[18] > -75 * 3.14 / 180: qpos[6] = 0
+        if joint_arc[18] > -75 * 3.14 / 180: qpos[7] = 0
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * 0
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[10] = 0
+        if joint_arc[10] > -80 * 3.14 / 180: qpos[11] = 0
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[14] = 0
+        if joint_arc[14] > -80 * 3.14 / 180: qpos[15] = 0
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l6.py
new file mode 100644
index 0000000..81715cd
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l6.py
@@ -0,0 +1,181 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.2  # 侧摆
+        qpos[17] = joint_arc[20] * 2.4  # 旋转
+        qpos[18] = joint_arc[2] * -0.3878  # 根部关节
+        qpos[19] = joint_arc[1] * -0.66845 # 中部关节
+        qpos[20] = joint_arc[0] * -0.8 # 远端关节
+
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -0.7
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -0.7
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -1.0098
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -0.7
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1  # 侧摆
+        qpos[17] = joint_arc[20] * 1.5 # 旋转
+        qpos[18] = joint_arc[2] * -0.9 # 根部关节
+        qpos[19] = joint_arc[1] * -0.8  # 中部关节
+        qpos[20] = joint_arc[0] * -0.8 # 远端关节
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -0.8
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -0.8
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * -1.0098
+        qpos[9] = joint_arc[10] * -0.8
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -0.8  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l7.py
new file mode 100644
index 0000000..7707080
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_l7.py
@@ -0,0 +1,181 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[20] * 1.2  # 侧摆
+        qpos[17] = joint_arc[20] * 2.4  # 旋转
+        qpos[18] = joint_arc[2] * -0.3878  # 根部关节
+        qpos[19] = joint_arc[1] * -0.66845 # 中部关节
+        qpos[20] = joint_arc[0] * -0.8 # 远端关节
+
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -0.7
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        qpos[4] = joint_arc[19]
+        qpos[5] = joint_arc[18] * -0.7
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        qpos[8] = joint_arc[11]
+        qpos[9] = joint_arc[10] * -1.0098
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        qpos[12] = joint_arc[15]
+        qpos[13] = joint_arc[14] * -0.7
+        qpos[14] = joint_arc[13] * -1
+        qpos[15] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[2] * -0.5  # 旋转
+        qpos[17] = joint_arc[20] * 0.8 # 侧摆
+        qpos[18] = joint_arc[2] * -0.9 # 根部关节
+        qpos[19] = joint_arc[1] * -0.8  # 中部关节
+        qpos[20] = joint_arc[0] * -0.5 # 远端关节
+
+        # 食指 index
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+
+        # 小指 little
+        qpos[4] = joint_arc[19] * -1
+        qpos[5] = joint_arc[18] * -1
+        qpos[6] = joint_arc[17] * -1
+        qpos[7] = joint_arc[16] * -1
+
+        # 中指 middle
+        qpos[8] = joint_arc[11] * -1.0098
+        qpos[9] = joint_arc[10] * -1
+        qpos[10] = joint_arc[9] * -1
+        qpos[11] = joint_arc[8] * -1
+
+        # 无名指 ring
+        qpos[12] = joint_arc[15] * -1
+        qpos[13] = joint_arc[14] * -1  # gen
+        qpos[14] = joint_arc[13] * -1  # zhong
+        qpos[15] = joint_arc[12] * -1
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_o6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_o6.py
new file mode 100644
index 0000000..6cc6628
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/hand/udexreal_o6.py
@@ -0,0 +1,256 @@
+import numpy as np
+import copy
+from linkerhand.handcore import HandCore
+from ..config.o6_config import FINGER_CONFIGS, MAPPING_ORDER
+from typing import List
+from linkerhand.handcoreex import MultiStateLinearMapper
+
+
+# 修正 RightHand 类
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationopose = None
+        self.calibrationfistpose = None
+        self.calibrationoriginal = None
+        
+        # 机械手预设姿势
+        self.robot_original = handcore.hand_lower_limits_l
+        self.robot_opose = [1.1, 0.37, 0.0, 0.82, 0.0, 0.82, 0.0, 0.82, 0.0, 0.82, 0.0]
+        self.robot_fist = handcore.hand_upper_limits_l
+        
+        # 映射器
+        self.multi_state_mapper = MultiStateLinearMapper(FINGER_CONFIGS, MAPPING_ORDER)
+    
+    def initialize_mapper(self) -> bool:
+        """初始化映射器"""
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+
+        # 设置状态顺序
+        self.multi_state_mapper.set_state_order(['original', 'opose', 'fist'])
+
+    
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            return data.tolist()
+        else:
+            return list(data)
+    
+    def joint_arc_update(self, joint_arc: List[float]):
+        """映射手套数据到机械手"""
+        qpos = np.zeros(25)
+        arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+        qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+        qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+        qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+        qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+        qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+        qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+    
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        # 拇指处理
+        qpos[16] = joint_arc[1] * 1.2
+        qpos[17] = joint_arc[0] * -2 + joint_arc[1] * 1.2
+        qpos[20] = joint_arc[4] * 0.5 + joint_arc[2] * 0.8
+ 
+        qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+        qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+        qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+        qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+# LeftHand 类类似修正
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.g_jointpositions_arc = [0] * length
+        self.g_jointvelocity_arc = [0] * length
+        self.handstate = [0] * length
+        self.calibrationopose = None
+        self.calibrationfistpose = None
+        self.calibrationoriginal = None
+
+        # 机械手预设姿势
+        self.robot_original = handcore.hand_lower_limits_l
+        self.robot_opose = [1.1, 0.37, 0.0, 0.82, 0.0, 0.82, 0.0, 0.82, 0.0, 0.82, 0.0]
+        self.robot_fist = handcore.hand_upper_limits_l
+        
+        # 使用多态映射器（支持更多手势）
+        self.multi_state_mapper = MultiStateLinearMapper(FINGER_CONFIGS, MAPPING_ORDER)
+
+        
+    def initialize_mapper(self) -> bool:
+        """初始化映射器"""
+        glove_original = self._to_list(self.calibrationoriginal)
+        glove_fist = self._to_list(self.calibrationfistpose)
+        glove_opose = self._to_list(self.calibrationopose)
+        
+        self.multi_state_mapper.add_state('original', glove_original, self.robot_original)
+        self.multi_state_mapper.add_state('opose', glove_opose, self.robot_opose)
+        self.multi_state_mapper.add_state('fist', glove_fist, self.robot_fist)
+
+        glove_pinch = glove_original.copy()
+        glove_pinch[2:5] = [1.5, 1.2, 1.0]  # 拇指弯曲明显
+        glove_pinch[0:2] = glove_original[0:2]  # 拇指侧摆保持原始
+        robot_pinch = self.robot_original.copy()
+        robot_pinch[1] = 0.8  # 拇指弯曲加大
+        robot_pinch[3] = 0.6  # 食指轻微弯曲
+
+        self.multi_state_mapper.add_state('pinch', glove_pinch, robot_pinch)
+
+        # 设置状态顺序
+        self.multi_state_mapper.set_state_order(['original', 'opose', 'fist'])
+
+    
+    def _to_list(self, data):
+        """转换为列表"""
+        if hasattr(data, 'tolist'):
+            return data.tolist()
+        elif isinstance(data, np.ndarray):
+            return data.tolist()
+        else:
+            return list(data)
+    
+    def joint_arc_update(self, joint_arc: List[float]):
+        """映射手套数据到机械手"""
+        qpos = np.zeros(25)
+        arc_value = self.multi_state_mapper.map_glove_to_robot(joint_arc)
+        qpos[17] = self.g_jointpositions_arc[1] = arc_value[0]
+        qpos[20] = self.g_jointpositions_arc[0] = arc_value[1]
+        qpos[1] = self.g_jointpositions_arc[2] = arc_value[3]
+        qpos[9] = self.g_jointpositions_arc[3] = arc_value[5]
+        qpos[13] = self.g_jointpositions_arc[4] = arc_value[7]
+        qpos[5] = self.g_jointpositions_arc[5] = arc_value[9]
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+    
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        # 拇指处理
+        qpos[16] = joint_arc[1] * 1.2
+        qpos[17] = joint_arc[0] * -2 + joint_arc[1] * 1.2
+        qpos[20] = joint_arc[4] * 0.5 + joint_arc[2] * 0.8
+ 
+        qpos[1] = joint_arc[6] * 0.1 + joint_arc[8] * 0.7
+        qpos[9] = joint_arc[10] * 0.1 + joint_arc[12] * 0.7
+        qpos[13] = joint_arc[14] * 0.1 + joint_arc[16] * 0.7
+        qpos[5] = joint_arc[18] * 0.1 + joint_arc[20] * 0.7
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/retarget.py b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/retarget.py
new file mode 100644
index 0000000..24a653c
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/udexrealv2t/retarget.py
@@ -0,0 +1,442 @@
+
+import time
+import json
+import copy
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from datetime import datetime, timedelta
+from tqdm import tqdm
+from pathlib import Path
+from colorama import Fore, init
+from typing import Optional
+
+from ...linkerhand.udexrealcore import UdexRealScoketUdp, TimeoutStatus, UdexRealData
+from ...linkerhand.handcore import HandCore
+
+from ...linkerhand.constants import RobotName, ROBOT_LEN_MAP
+
+
+tmp_file_path = Path(__file__).parent / "tmp" / "jointangle_data.tmp"
+
+
+
+class CalibrationProgress:
+    """校准进度管理器"""
+    def __init__(self, duration: float = 3.0):
+        self.step_started = False
+        self.message = ""
+        self.start_time = 0
+        self.duration = duration
+        self.last_progress = -1
+        
+        # 进度条配置
+        self.bar_length = 60  # 增加到60，占更多屏幕
+        self.filled_char = '█'
+        self.empty_char = '░'
+        
+        # 状态跟踪
+        self.message_printed = False
+    
+    def start_step(self, message: str, duration: Optional[float] = None):
+        """开始新的校准步骤"""
+        # 重置状态
+        self.step_started = True
+        self.message = message
+        self.start_time = time.time()
+        self.last_progress = -1
+        self.message_printed = False
+        
+        if duration is not None:
+            self.duration = duration
+        
+        # 只在开始时打印一次消息
+        if not self.message_printed:
+            self.message_printed = True
+    
+    def update_progress(self) -> tuple[bool, int]:
+        """
+        更新并显示进度
+        
+        Returns:
+            tuple[bool, int]: (是否完成, 当前进度百分比)
+        """
+        if not self.step_started:
+            return False, 0
+            
+        elapsed = time.time() - self.start_time
+        progress = min(100, int((elapsed / self.duration) * 100))
+        
+        # 只在进度有变化时更新显示
+        if progress != self.last_progress:
+            self.last_progress = progress
+            
+            # 计算填充长度
+            filled = int(self.bar_length * progress // 100)
+            
+            # 构建进度条
+            if progress < 100:
+                bar = self.filled_char * filled + self.empty_char * (self.bar_length - filled)
+            else:
+                # 100%时显示完整条
+                bar = self.filled_char * self.bar_length
+            
+            # 使用 \r 和 \033[K 确保完全覆盖
+            print(f'\r\033[K{self.message} |{bar}| {progress:3d}%', end='', flush=True)
+        
+        # 检查是否完成
+        is_completed = elapsed >= self.duration
+        if is_completed:
+            self.step_started = False
+            # 完成后不在这里换行，让调用者控制
+            
+        return is_completed, progress
+    
+    def get_progress_info(self) -> dict:
+        """获取进度信息"""
+        if not self.step_started:
+            return {"elapsed": 0, "progress": 0, "remaining": 0}
+        
+        elapsed = time.time() - self.start_time
+        progress = min(1.0, elapsed / self.duration)
+        
+        return {
+            "elapsed": elapsed,
+            "progress": progress,
+            "remaining": max(0, self.duration - elapsed),
+            "progress_percent": int(progress * 100)
+        }
+    
+    def reset(self):
+        """重置状态"""
+        self.step_started = False
+        self.message = ""
+        self.start_time = 0
+        self.last_progress = -1
+        self.message_printed = False
+    
+    def is_active(self) -> bool:
+        """检查是否正在运行"""
+        return self.step_started
+    
+    def stop(self, success: bool = True, final_message: Optional[str] = None):
+        """停止进度条"""
+        if not self.step_started:
+            return
+        
+        self.step_started = False
+        
+        if success:
+            if final_message:
+                print(f"\r\033[K✅ {final_message}")
+            else:
+                print(f"\r\033[K✅ {self.message} - 完成")
+        else:
+            if final_message:
+                print(f"\r\033[K❌ {final_message}")
+            else:
+                print(f"\r\033[K❌ {self.message} - 失败")
+
+
+class Retarget():
+    def __init__(self,node, ip, port, deviceid, lefthand: RobotName, righthand: RobotName, handcore: HandCore,
+                lefthandpubprint: bool, righthandpubprint: bool,calibration :bool = False):
+        self.node = node
+        self.udp_ip = ip
+        self.udp_port = port
+        self.motion_device = deviceid
+        self.lefthandtype = lefthand
+        self.righthandtype = righthand
+        self.handcore = handcore
+        self.runing = True
+        self.lefthandpubprint = lefthandpubprint
+        self.righthandpubprint = righthandpubprint
+        self.calibration = calibration
+
+        # 根据右手类型初始化
+        if self.righthandtype == RobotName.o7 \
+            or self.righthandtype == RobotName.l7 \
+            or self.righthandtype == RobotName.o7v1 \
+            or self.righthandtype == RobotName.o7v3:
+            from .hand.udexreal_l7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.o6:
+            from .hand.udexreal_o6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l6:
+            from .hand.udexreal_l6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        # elif self.righthandtype == RobotName.l25:
+        #     from .hand.udexreal_l25 import RightHand
+        #     self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        # elif self.righthandtype == RobotName.t25:
+        #     from .hand.udexreal_t25 import RightHand
+        #     self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l20:
+            from .hand.udexreal_l20 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l10 \
+            or self.righthandtype == RobotName.l10v7 :
+            from .hand.udexreal_l10v7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l21:
+            from .hand.udexreal_l21 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+
+        # 根据LEFT手类型初始化
+        if self.lefthandtype == RobotName.o7 \
+            or self.lefthandtype == RobotName.l7 \
+            or self.lefthandtype == RobotName.o7v1 \
+            or self.lefthandtype == RobotName.o7v3:
+            from .hand.udexreal_l7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.o6:
+            from .hand.udexreal_o6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l6:
+            from .hand.udexreal_l6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l25:
+            from .hand.udexreal_l25 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        # elif self.lefthandtype == RobotName.t25:
+        #     from .hand.udexreal_t25 import LeftHand
+        #     self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l20:
+            from .hand.udexreal_l20 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l10 \
+            or self.lefthandtype == RobotName.l10v7 :
+            from .hand.udexreal_l10v7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l21:
+            from .hand.udexreal_l21 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+
+        # ROS2 发布器
+        self.publisher_r = self.node.create_publisher(
+            JointState,
+            '/cb_right_hand_control_cmd',
+            self.handcore.hand_numjoints_r)
+            
+        self.publisher_l = self.node.create_publisher(
+            JointState,
+            '/cb_left_hand_control_cmd',
+            self.handcore.hand_numjoints_l)
+            
+        self.timer = self.node.create_timer(1.0/120, self.process_callback)  # 120Hz
+        self.pubprintcount = 0
+        self.udp_datacapture = None
+
+        self.calibration_progress = CalibrationProgress(duration=3.0)
+
+    def initialize_udp(self):
+        """初始化UDP连接"""
+        self.udp_datacapture = UdexRealScoketUdp(
+            host=self.udp_ip,
+            port=self.udp_port,
+            device_id=self.motion_device)
+        self.udp_datacapture.set_timeout_callback(self.on_timeout_callback)
+        self.udp_datacapture.set_data_recovered_callback(self.on_data_recovered_callback)
+        return self.udp_datacapture.udp_initial()
+    
+    def on_timeout_callback(self, status: TimeoutStatus):
+        """超时回调函数"""
+        # if status.consecutive_timeout_checks == 1:  # 第一次超时
+        #     print(f"[{datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] "
+        #           f"警告: 数据接收超时，{status.time_since_last_data:.1f}秒未收到数据")
+        if status.consecutive_timeout_checks % 1 == 0:  # 每10次检查打印一次
+            print(f"[{datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] "
+                f"警告: 数据接收超时，{status.time_since_last_data:.1f}秒未收到数据")
+
+    def on_data_recovered_callback(self):
+        """数据恢复回调函数"""
+        print(f"[{datetime.now().strftime('%Y-%m-%d %H:%M:%S')}] 数据连接已恢复")
+
+
+    def process_callback(self):
+        if not self.runing:
+            return
+        
+        mocapdata = self.udp_datacapture.realmocapdata
+
+        # 检查数据是否更新
+        if not mocapdata.is_update:
+            return
+        
+        if self.calibration != -1:
+            step_info = {
+                None: ("请并拢五指...", 0),
+                0: ("请做握拳姿势...", 1),
+                1: ("请做O型姿势...", -1)
+            }.get(self.calibration)
+            
+            if not step_info:
+                return
+                
+            message, next_step = step_info
+            
+            # 启动或更新进度条
+            if not self.calibration_progress.is_active():
+                self.calibration_progress.start_step(message)
+            
+            # 更新显示
+            is_completed, _ = self.calibration_progress.update_progress()
+            
+            if is_completed:
+                print()  # 换行
+                if self.calibration is None:
+                    # 第一次校准：并拢五指姿势
+                    self.righthand.calibrationoriginal = mocapdata.jointangle_rHand.copy()
+                    self.lefthand.calibrationoriginal = mocapdata.jointangle_lHand.copy()
+                    self.calibration = 0
+                    
+                elif self.calibration == 0:
+                    # 第二次校准：握拳姿势
+                    self.righthand.calibrationfistpose = mocapdata.jointangle_rHand.copy()
+                    self.lefthand.calibrationfistpose = mocapdata.jointangle_lHand.copy()
+                    self.calibration = 1
+                    
+                elif self.calibration == 1:
+                    # 第三次校准：O型姿势
+                    self.righthand.calibrationopose = mocapdata.jointangle_rHand.copy()
+                    self.lefthand.calibrationopose = mocapdata.jointangle_lHand.copy()
+                    self.calibration = -1
+                    
+                    # 完成所有校准步骤
+                    self._save_to_tmp()
+                    self.righthand.initialize_mapper()
+                    self.lefthand.initialize_mapper()
+                    print("✅ 校准完成！")
+                
+                # 重置进度条，准备下一步或结束
+                self.calibration_progress.reset()
+            
+            return
+        
+        # 处理左右手原始数据
+        self.lefthand.joint_arc_update(mocapdata.jointangle_lHand)
+        self.righthand.joint_arc_update(mocapdata.jointangle_rHand)
+
+        # 速度环节处理
+        self.lefthand.speed_update()
+        self.righthand.speed_update()
+
+        # 调试打印
+        if self.lefthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"左手位置: {self.lefthand.g_jointpositions}")
+        if self.righthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"右手位置: {self.righthand.g_jointpositions}")
+
+        # 发布右手数据
+        msg_r = JointState()
+        msg_r.header.stamp = self.node.get_clock().now().to_msg()
+        msg_r.name = [f'joint{i + 1}' for i in range(len(self.righthand.g_jointpositions))]
+        msg_r.position = [float(num) for num in self.righthand.g_jointpositions]
+        msg_r.velocity = [float(num) for num in self.righthand.g_jointvelocity]
+        self.publisher_r.publish(msg_r)
+
+        # 发布左手数据
+        msg_l = JointState()
+        msg_l.header.stamp = self.node.get_clock().now().to_msg()
+        msg_l.name = [f'joint{i + 1}' for i in range(len(self.lefthand.g_jointpositions))]
+        msg_l.position = [float(num) for num in self.lefthand.g_jointpositions]
+        msg_l.velocity = [float(num) for num in self.lefthand.g_jointvelocity]
+        self.publisher_l.publish(msg_l)
+
+        self.pubprintcount += 1
+
+    def _save_to_tmp(self):
+        """
+        保存 jointangle_r 数据和时间戳到临时文件
+        """
+        newdata = {
+            "timestamp": datetime.now().isoformat(),  # 当前时间
+            "jointangleoriginal_r": self.righthand.calibrationoriginal,
+            "jointangleoriginal_l": self.lefthand.calibrationoriginal,
+            "jointanglefist_r": self.righthand.calibrationfistpose,
+            "jointanglefist_l": self.lefthand.calibrationfistpose,
+            "jointangleopose_r": self.righthand.calibrationopose,
+            "jointangleopose_l": self.lefthand.calibrationopose
+        }
+        try:
+            tmp_file_path.parent.mkdir(parents=True, exist_ok=True)
+            if tmp_file_path.exists():
+                content = tmp_file_path.read_text()
+                historydata = json.loads(content)
+                # if self.force_reader_left.handtype != 'Left':
+                #     # 左手数据不存在
+                #     newdata["jointangleoriginal_l"] = historydata["jointangleoriginal_l"]
+                #     newdata["jointanglefist_l"] = historydata["jointanglefist_l"]
+                #     newdata["jointangleopose_l"] = historydata["jointangleopose_l"]
+                # if self.force_reader_right.handtype != 'Right':
+                #     newdata["jointangleoriginal_r"] = historydata["jointangleoriginal_r"]
+                #     newdata["jointanglefist_r"] = historydata["jointanglefist_r"]
+                #     newdata["jointangleopose_r"] = historydata["jointangleopose_r"]
+            json_str = json.dumps(newdata, indent=2)
+            tmp_file_path.write_text(json_str)
+            print("保存成功")
+            return True
+        except Exception as e:
+            print(f"保存失败: {e}")
+            return False
+
+    def _load_from_tmp(self):
+        """
+        从临时文件读取数据，检查时间戳有效性
+        - 如果文件不存在、时间戳为空或超过1小时，返回 False
+        - 否则返回 jointangle_r 数据
+        """
+        if not tmp_file_path.exists():
+            print("文件不存在")
+            return False
+        try:
+            content = tmp_file_path.read_text()
+            data = json.loads(content)
+        except Exception as e:
+            print(f"读取失败: {e}")
+            return False
+
+        # 检查时间戳
+        if 'timestamp' not in data or not data['timestamp']:
+            print("无效的时间戳...")
+            return False
+
+        # 检查是否超过8小时                     
+        saved_time = datetime.fromisoformat(data['timestamp'])
+        current_time = datetime.now()
+        
+        # 计算时间差
+        time_diff = current_time - saved_time
+        if time_diff > timedelta(hours=8):
+            print("标定数据有效期不足8小时,暂不进行标定流程...")
+        try:
+            self.righthand.calibrationoriginal = data['jointangleoriginal_r']
+            self.lefthand.calibrationoriginal = data['jointangleoriginal_l']
+            self.righthand.calibrationfistpose = data['jointanglefist_r']
+            self.lefthand.calibrationfistpose = data['jointanglefist_l']                                                                           
+            self.righthand.calibrationopose = data['jointangleopose_r']
+            self.lefthand.calibrationopose = data['jointangleopose_l']
+        except Exception as e:
+            print(f"标定数据异常: {e}")
+            return False
+        return True
+
+
+    def process(self):
+        """主处理函数"""
+        if not self.initialize_udp():
+            self.node.get_logger().error("初始化配置网络失败")
+            return
+        
+        if self.calibration is True:
+            self.calibration = None
+        else:
+            if self._load_from_tmp() is True:
+                print("跳过标定流程")
+                self.calibration = -1
+                self.righthand.initialize_mapper()
+                self.lefthand.initialize_mapper()
+            else:
+                self.calibration = None
+
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/README.md b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/README.md
new file mode 100644
index 0000000..c3ade4f
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/README.md
@@ -0,0 +1,63 @@
+# VTR-DYN Data Glove Module
+
+VTR-DYN data glove ROS2 driver module, receives glove data via UDP and publishes to ROS2 topics.
+
+## Features
+
+- Receives glove data via UDP protocol
+- Supports left and right hand data
+- 50Hz publish rate
+
+## Usage
+
+### 1. Config File
+
+Edit `config/base_config.yml`:
+
+```yaml
+system:
+  motion_type: vtrdyn
+
+udp:
+  ip: "0.0.0.0"
+  port: 8888
+```
+
+### 2. Launch
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+## ROS2 Topics
+
+### Published Topics
+
+| Topic | Message Type | Description |
+|-------|-------------|-------------|
+| `/cb_right_hand_control_cmd` | `sensor_msgs/JointState` | Right hand control data |
+| `/cb_left_hand_control_cmd` | `sensor_msgs/JointState` | Left hand control data |
+
+### Message Format
+
+```python
+# sensor_msgs/JointState
+msg.header.stamp  # Timestamp
+msg.name          # Joint name list
+msg.position      # Joint position values
+```
+
+## File Structure
+
+```
+motion/vtrdyn/
+├── __init__.py
+├── vtrdyncore.py    # UDP communication core
+├── retarget.py      # ROS2 integration
+└── README.md        # English documentation
+```
+
+## Notes
+
+1. Ensure UDP port is not occupied
+2. Glove and host must be on the same network
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/README_zh.md b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/README_zh.md
new file mode 100644
index 0000000..541d383
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/README_zh.md
@@ -0,0 +1,63 @@
+# VTR-DYN 数据手套模块
+
+VTR-DYN 数据手套的 ROS2 驱动模块，通过 UDP 接收手套数据并发布到 ROS2 话题。
+
+## 特性
+
+- 通过 UDP 协议接收手套数据
+- 支持左右手数据
+- 发布频率 50Hz
+
+## 使用方法
+
+### 1. 配置文件
+
+修改 `config/base_config.yml`:
+
+```yaml
+system:
+  motion_type: vtrdyn
+
+udp:
+  ip: "0.0.0.0"
+  port: 8888
+```
+
+### 2. 运行
+
+```bash
+ros2 run linkerhand_retarget handretarget
+```
+
+## ROS2 话题
+
+### 发布话题
+
+| 话题名 | 消息类型 | 说明 |
+|-------|---------|------|
+| `/cb_right_hand_control_cmd` | `sensor_msgs/JointState` | 右手控制数据 |
+| `/cb_left_hand_control_cmd` | `sensor_msgs/JointState` | 左手控制数据 |
+
+### 消息格式
+
+```python
+# sensor_msgs/JointState
+msg.header.stamp  # 时间戳
+msg.name          # 关节名称列表
+msg.position      # 关节位置值
+```
+
+## 文件结构
+
+```
+motion/vtrdyn/
+├── __init__.py
+├── vtrdyncore.py    # UDP 通讯核心
+├── retarget.py      # ROS2 集成
+└── README.md        # 本文档
+```
+
+## 注意事项
+
+1. 确保 UDP 端口未被占用
+2. 手套与主机需在同一网络
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/__init__.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l10v7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l10v7.py
new file mode 100644
index 0000000..05deae2
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l10v7.py
@@ -0,0 +1,179 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        # if joint_arc[0] * 1.2 > 0.5:
+        #     qpos[15] = joint_arc[0] * 0.8
+        # else:
+        qpos[16] = joint_arc[0] * 0.4
+        qpos[17] = joint_arc[1] * 0.8
+        qpos[18] = joint_arc[2]
+        qpos[19] = joint_arc[3] 
+        qpos[20] = joint_arc[4]
+        
+        qpos[0] = joint_arc[5] * -1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * 2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * 1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=10):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0] * 0.6
+        qpos[17] = joint_arc[1] * 0.6
+        qpos[18] = joint_arc[2]
+        qpos[19] = joint_arc[3] 
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * 1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * -2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * -1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            self.g_jointvelocity[i] = 255
+            # lastpos = self.last_jointpositions[i]
+            # position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            # position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            # slow_limit = 4
+            # fast_limit = 10
+            # max_vel = int(self.last_jointvelocity[i] * 2)
+            # mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            # min_vel = int(self.last_jointvelocity[i] * 0.5)
+            # target_vel = self.last_jointvelocity[i]
+            # if self.handstate[i] == 0:  # stop
+            #     if 0 < position_error:
+            #         target_vel = position_error * 5 + 30
+            #         self.handstate[i] = 1
+            # elif self.handstate[i] == 1:  # slow
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 50
+            #         if target_vel > mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 2
+            #     elif position_error == 0:
+            #         self.handstate[i] = 0
+            #         target_vel = position_error * 5 + 100
+            #     else:
+            #         target_vel = position_error * 5 + 100
+            # else:  # fast
+            #     if position_error >= fast_limit:
+            #         target_vel = position_error * 5 + 90
+            #         if target_vel > max_vel:
+            #             target_vel = max_vel
+            #     elif slow_limit < position_error < fast_limit:
+            #         target_vel = position_error * 5 + 60
+            #         if target_vel < mid_vel:
+            #             target_vel = mid_vel
+            #         self.handstate[i] = 3
+            #     elif 0 < position_error <= slow_limit:
+            #         target_vel = position_error * 5 + 40
+            #         if target_vel < min_vel:
+            #             target_vel = min_vel
+            #         self.handstate[i] = 1
+            # self.g_jointvelocity[i] = int(target_vel * 1)
+            # if self.g_jointvelocity[i] > 255:
+            #     self.g_jointvelocity[i] = 255
+            # self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            # self.last_jointpositions[i] = self.g_jointpositions[i]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l20.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l20.py
new file mode 100644
index 0000000..6fd6e82
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l20.py
@@ -0,0 +1,177 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0] * 0.5
+        qpos[17] = joint_arc[1] * 0.4
+        qpos[18] = joint_arc[2] * 1.5
+        qpos[19] = joint_arc[3] 
+        qpos[20] = joint_arc[4]
+        
+        qpos[0] = joint_arc[5] * -1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * 2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * 1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=20):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0] * 0.3
+        qpos[17] = joint_arc[1] * 0.8
+        qpos[18] = joint_arc[2] * 0.5
+        qpos[19] = joint_arc[4] * 1
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * -1.2
+        qpos[1] = joint_arc[7] * 0.7
+        qpos[2] = joint_arc[8] * 0.6
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * 2
+        qpos[5] = joint_arc[22] * 0.7
+        qpos[6] = joint_arc[23] * 0.6
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12] * 0.7
+        qpos[10] = joint_arc[13] * 0.6
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * 1.5
+        qpos[13] = joint_arc[17] * 0.7
+        qpos[14] = joint_arc[18] * 0.6
+        qpos[15] = joint_arc[19]
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255    
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l21.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l21.py
new file mode 100644
index 0000000..c857659
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l21.py
@@ -0,0 +1,173 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+
+        qpos[16] = joint_arc[0]
+        qpos[17] = joint_arc[1] * 0.5
+        qpos[18] = joint_arc[2] * 0.5
+        qpos[19] = joint_arc[3]
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * 1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * -1.2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10] 
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * -1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0]
+        qpos[17] = joint_arc[1] * 0.6
+        qpos[18] = joint_arc[2] * 0.5
+        qpos[19] = joint_arc[4]
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * 1.2
+        qpos[1] = joint_arc[7] *1.1
+        qpos[2] = joint_arc[8] *1.1
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * -1.2
+        qpos[5] = joint_arc[22] *1.1
+        qpos[6] = joint_arc[23] *1.1
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10] 
+        qpos[9] = joint_arc[12] *1.1
+        qpos[10] = joint_arc[13] *1.1
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * -1.5
+        qpos[13] = joint_arc[17] *1.1
+        qpos[14] = joint_arc[18] *1.1
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l25.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l25.py
new file mode 100644
index 0000000..c857659
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l25.py
@@ -0,0 +1,173 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+
+        qpos[16] = joint_arc[0]
+        qpos[17] = joint_arc[1] * 0.5
+        qpos[18] = joint_arc[2] * 0.5
+        qpos[19] = joint_arc[3]
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * 1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * -1.2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10] 
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * -1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=25):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0]
+        qpos[17] = joint_arc[1] * 0.6
+        qpos[18] = joint_arc[2] * 0.5
+        qpos[19] = joint_arc[4]
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * 1.2
+        qpos[1] = joint_arc[7] *1.1
+        qpos[2] = joint_arc[8] *1.1
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * -1.2
+        qpos[5] = joint_arc[22] *1.1
+        qpos[6] = joint_arc[23] *1.1
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10] 
+        qpos[9] = joint_arc[12] *1.1
+        qpos[10] = joint_arc[13] *1.1
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * -1.5
+        qpos[13] = joint_arc[17] *1.1
+        qpos[14] = joint_arc[18] *1.1
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            slow_limit = 1
+            fast_limit = 5
+            max_vel = int(self.last_jointvelocity[i] * 1.5)
+            min_vel = int(self.last_jointvelocity[i] * 0.995)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 3 + 50
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 3 + 100
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                else:
+                    target_vel = position_error * 3 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 200
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 3 + 200
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                else:
+                    target_vel = min_vel
+                    if min_vel < 150:
+                        self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+        self.g_jointvelocity[6] = 255
+        self.g_jointvelocity[7] = 255
+        self.g_jointvelocity[8] = 255
+        self.g_jointvelocity[9] = 255
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l6.py
new file mode 100644
index 0000000..d4458df
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l6.py
@@ -0,0 +1,177 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0] * 0.8
+        qpos[17] = joint_arc[1] * 0.5
+        qpos[18] = joint_arc[2]
+        qpos[19] = joint_arc[3]
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * -1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * 2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * 1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0] * 0.6
+        qpos[17] = joint_arc[1] * 0.4
+        qpos[18] = joint_arc[2]
+        qpos[19] = joint_arc[3] 
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * 1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * -2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * -1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l7.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l7.py
new file mode 100644
index 0000000..56b4bc3
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_l7.py
@@ -0,0 +1,175 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0] * 0.8
+        qpos[17] = joint_arc[1] * 0.5
+        qpos[18] = joint_arc[2]
+        qpos[19] = joint_arc[3]
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * -1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * 2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * 1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=7):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0] * 0.6
+        qpos[17] = joint_arc[1] * 0.4
+        qpos[18] = joint_arc[2]
+        qpos[19] = joint_arc[3] 
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * 1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * -2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * -1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
\ No newline at end of file
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_o6.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_o6.py
new file mode 100644
index 0000000..acf50d7
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/hand/vtrdyn_o6.py
@@ -0,0 +1,209 @@
+import numpy as np
+from linkerhand.handcore import HandCore
+
+
+class RightHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+        # ========== 平滑滤波参数 ==========
+        self.smooth_enabled = True
+        self.smooth_alpha = 0.5  # 平滑系数：越小越平滑，范围 0.05-0.3
+        self.smooth_positions = [255.0] * length  # 平滑后的位置（浮点）
+        self.max_step = 20  # 每帧最大变化量，防止跳变
+
+    def _apply_smooth(self, raw_positions):
+        """
+        对电机输出应用平滑滤波，防止跳变
+        
+        使用指数移动平均(EMA) + 最大步长限制
+        """
+        if not self.smooth_enabled:
+            return raw_positions
+        
+        smoothed = []
+        for i, raw in enumerate(raw_positions):
+            # 指数移动平均
+            target = self.smooth_alpha * raw + (1 - self.smooth_alpha) * self.smooth_positions[i]
+            
+            # 最大步长限制，防止大幅跳变
+            diff = target - self.smooth_positions[i]
+            if abs(diff) > self.max_step:
+                target = self.smooth_positions[i] + (self.max_step if diff > 0 else -self.max_step)
+            
+            self.smooth_positions[i] = target
+            smoothed.append(int(round(target)))
+        
+        return smoothed
+    
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0]
+        qpos[17] = joint_arc[1] * 1.5
+        qpos[19] = joint_arc[3] * 0.7
+        qpos[20] = joint_arc[4] * 0.7
+
+        qpos[0] = joint_arc[5] * -1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * 2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * 1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+        if self.g_jointpositions[1] < 70:
+            self.g_jointpositions[1] = 70
+        self.g_jointpositions = self._apply_smooth(self.g_jointpositions)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
+
+
+class LeftHand:
+    def __init__(self, handcore: HandCore, length=6):
+        self.handcore = handcore
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[16] = joint_arc[0]
+        qpos[17] = joint_arc[1] * 1.5
+        qpos[18] = joint_arc[2]
+        qpos[19] = joint_arc[3] 
+        qpos[20] = joint_arc[4]
+
+        qpos[0] = joint_arc[5] * 1.2
+        qpos[1] = joint_arc[7]
+        qpos[2] = joint_arc[8]
+        qpos[3] = joint_arc[9]
+
+        qpos[4] = joint_arc[20] * -2
+        qpos[5] = joint_arc[22]
+        qpos[6] = joint_arc[23]
+        qpos[7] = joint_arc[24]
+
+        qpos[8] = joint_arc[10]
+        qpos[9] = joint_arc[12]
+        qpos[10] = joint_arc[13]
+        qpos[11] = joint_arc[14]
+
+        qpos[12] = joint_arc[15] * -1.5
+        qpos[13] = joint_arc[17]
+        qpos[14] = joint_arc[18]
+        qpos[15] = joint_arc[19]
+
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+
+    def speed_update(self):
+        for i in range(len(self.g_jointpositions)):
+            lastpos = self.last_jointpositions[i]
+            position_error = int(abs(self.g_jointpositions[i] - lastpos))
+            position_derict = 1 if self.g_jointpositions[i] - lastpos > 0 else -1
+            slow_limit = 4
+            fast_limit = 10
+            max_vel = int(self.last_jointvelocity[i] * 2)
+            mid_vel = int(self.last_jointvelocity[i] * 0.7)
+            min_vel = int(self.last_jointvelocity[i] * 0.5)
+            target_vel = self.last_jointvelocity[i]
+            if self.handstate[i] == 0:  # stop
+                if 0 < position_error:
+                    target_vel = position_error * 5 + 30
+                    self.handstate[i] = 1
+            elif self.handstate[i] == 1:  # slow
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 50
+                    if target_vel > mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 2
+                elif position_error == 0:
+                    self.handstate[i] = 0
+                    target_vel = position_error * 5 + 100
+                else:
+                    target_vel = position_error * 5 + 100
+            else:  # fast
+                if position_error >= fast_limit:
+                    target_vel = position_error * 5 + 90
+                    if target_vel > max_vel:
+                        target_vel = max_vel
+                elif slow_limit < position_error < fast_limit:
+                    target_vel = position_error * 5 + 60
+                    if target_vel < mid_vel:
+                        target_vel = mid_vel
+                    self.handstate[i] = 3
+                elif 0 < position_error <= slow_limit:
+                    target_vel = position_error * 5 + 40
+                    if target_vel < min_vel:
+                        target_vel = min_vel
+                    self.handstate[i] = 1
+            self.g_jointvelocity[i] = int(target_vel * 1)
+            if self.g_jointvelocity[i] > 255:
+                self.g_jointvelocity[i] = 255
+            self.g_jointvelocity[i] = 255
+            self.last_jointvelocity[i] = self.g_jointvelocity[i]
+            self.last_jointpositions[i] = self.g_jointpositions[i]
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/retarget.py b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/retarget.py
new file mode 100644
index 0000000..6e3ce39
--- /dev/null
+++ b/src/linkerhand_retarget/linkerhand_retarget/motion/vtrdyn/retarget.py
@@ -0,0 +1,194 @@
+import time
+import rclpy
+import sys
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from pathlib import Path
+
+_project_root = Path(__file__).absolute().parent.parent.parent
+_project_root_str = str(_project_root)
+
+if _project_root_str in sys.path:
+    sys.path.remove(_project_root_str)
+sys.path.insert(0, _project_root_str)
+
+from linkerhand.vtrdyncore import VtrdynSocketUdp, MocapData
+from linkerhand.constants import RobotName, ROBOT_LEN_MAP
+from linkerhand.handcore import HandCore
+
+
+class Retarget:
+    def __init__(self,
+                node, 
+                ip,
+                port,
+                lefthand: RobotName,
+                righthand: RobotName,
+                handcore: HandCore,
+                lefthandpubprint: bool,
+                righthandpubprint: bool,
+                calibration=None):
+        self.node = node
+        self.udp_ip = ip
+        self.udp_port = port
+        self.lefthandtype = lefthand
+        self.righthandtype = righthand
+        self.handcore = handcore
+        self.runing = True
+        self.lefthandpubprint = lefthandpubprint
+        self.righthandpubprint = righthandpubprint
+        if self.righthandtype == RobotName.o7 \
+            or self.righthandtype == RobotName.l7 \
+            or self.righthandtype == RobotName.o7v1 \
+            or self.righthandtype == RobotName.o7v3:
+            from .hand.vtrdyn_l7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.o6:
+            from .hand.vtrdyn_o6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l6:
+            from .hand.vtrdyn_l6 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l25 \
+            or self.righthandtype == RobotName.g20:
+            from .hand.vtrdyn_l25 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l20:
+            from .hand.vtrdyn_l20 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+        elif self.righthandtype == RobotName.l10 \
+            or self.righthandtype == RobotName.l10v7 :
+            from .hand.vtrdyn_l10v7 import RightHand
+            self.righthand = RightHand(handcore, length=ROBOT_LEN_MAP[righthand])
+
+        
+        if self.lefthandtype == RobotName.o7 \
+            or self.lefthandtype == RobotName.l7 \
+            or self.lefthandtype == RobotName.o7v1 \
+            or self.lefthandtype == RobotName.o7v3:
+            from .hand.vtrdyn_l7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.o6:
+            from .hand.vtrdyn_o6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l6:
+            from .hand.vtrdyn_l6 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l25 \
+            or self.lefthandtype == RobotName.g20:
+            from .hand.vtrdyn_l25 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l20:
+            from .hand.vtrdyn_l20 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+        elif self.lefthandtype == RobotName.l10 \
+            or self.lefthandtype == RobotName.l10v7 :
+            from .hand.vtrdyn_l10v7 import LeftHand
+            self.lefthand = LeftHand(handcore, length=ROBOT_LEN_MAP[lefthand])
+
+        self.publisher_r = self.node.create_publisher(
+            JointState,
+            '/cb_right_hand_control_cmd',
+            self.handcore.hand_numjoints_r)
+            
+        self.publisher_l = self.node.create_publisher(
+            JointState,
+            '/cb_left_hand_control_cmd',
+            self.handcore.hand_numjoints_l)
+            
+        self.timer = self.node.create_timer(1.0/120, self.process_callback)  # 120Hz
+        self.pubprintcount = 0
+        self.pubprintcount = 0
+        self.udp_datacapture,self.dstAddr  = None,None
+
+    def initialize_udp(self):
+        """初始化UDP连接"""
+        self.node.get_logger().info(f"正在初始化UDP连接 -> IP: {self.udp_ip}, 端口: {self.udp_port}")
+        self.udp_datacapture = VtrdynSocketUdp()
+        if self.udp_datacapture.udp_initial(2223):
+            self.dstAddr = self.udp_datacapture.udp_getsockaddr(self.udp_ip, self.udp_port)
+            self.node.get_logger().info(f"UDP连接初始化成功 -> 目标地址: {self.udp_ip}:{self.udp_port}")
+            self.udp_datacapture.udp_send_request_connect(self.dstAddr)
+            return True
+        else:
+            self.node.get_logger().error("UDP连接初始化失败！")
+            return False
+    
+
+    def process_callback(self):
+        if not self.runing:
+            return
+
+        """定时器回调函数，处理数据并发布"""
+        if not self.udp_datacapture.udp_is_onnect():
+            self.node.get_logger().warning("侦测到UDP断开状态，正在重连！")
+            if self.udp_datacapture.udp_initial(2223):
+                if self.udp_datacapture.udp_send_request_connect(self.dstAddr):
+                    self.node.get_logger().info("与服务器建立链路，启动接收线程......")
+                else:
+                    self.node.get_logger().info("未与服务器正常通讯，请检查通讯连接......")
+                    time.sleep(2)
+                    return
+            else:
+                self.node.get_logger().error("UDP重连初始化失败！")
+                time.sleep(2)
+                return
+        
+        mocapdata = MocapData()
+        self.udp_datacapture.udp_recv_mocap_data(mocapdata)  # 接收数据
+        if not mocapdata.is_update:
+            return
+
+        right_hand_pose, left_hand_pose = self.handcore.generate_position(
+            mocapdata.quaternion_rHand,
+            mocapdata.quaternion_lHand)
+        qpos_r = self.handcore.projection_process(right_hand_pose)
+        qpos_l = self.handcore.projection_process(left_hand_pose)
+        qpos_r[0] = qpos_r[0] - 0.11
+        qpos_r[1] = qpos_r[1] - 0.09
+        qpos_r[2] = qpos_r[2] - 0.25
+        qpos_r[3] = qpos_r[3] - 0.12
+        qpos_r[4] = qpos_r[4] - 0.08
+        qpos_l[0] = qpos_l[0] - 0.15
+        qpos_l[1] = qpos_l[1] - 0.21
+        qpos_l[2] = qpos_l[2] - 0.15
+        qpos_l[3] = qpos_l[3] - 0.21
+        qpos_l[4] = qpos_l[4] - 0.11
+
+        # 处理左右手原始数据+重定向
+        self.lefthand.joint_update(qpos_l)
+        self.righthand.joint_update(qpos_r)
+        # 速度环节处理
+        self.lefthand.speed_update()
+        self.righthand.speed_update()
+
+        # 调试打印
+        if self.lefthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"左手位置: {self.lefthand.g_jointpositions}")
+        if self.righthandpubprint and self.pubprintcount % 1 == 0:
+            self.node.get_logger().info(f"右手位置: {self.righthand.g_jointpositions}")
+
+        # 发布右手数据
+        msg_r = JointState()
+        msg_r.header.stamp = self.node.get_clock().now().to_msg()
+        msg_r.name = [f'joint{i + 1}' for i in range(len(self.righthand.g_jointpositions))]
+        msg_r.position = [float(num) for num in self.righthand.g_jointpositions]
+        msg_r.velocity = [float(num) for num in self.righthand.g_jointvelocity]
+        self.publisher_r.publish(msg_r)
+
+        # 发布左手数据
+        msg_l = JointState()
+        msg_l.header.stamp = self.node.get_clock().now().to_msg()
+        msg_l.name = [f'joint{i + 1}' for i in range(len(self.lefthand.g_jointpositions))]
+        msg_l.position = [float(num) for num in self.lefthand.g_jointpositions]
+        msg_l.velocity = [float(num) for num in self.lefthand.g_jointvelocity]
+        self.publisher_l.publish(msg_l)
+
+        self.pubprintcount += 1
+
+    def process(self):
+        """主处理函数"""
+        if not self.initialize_udp():
+            self.get_logger().error("初始化配置网络失败")
+            return
+
diff --git a/src/linkerhand_retarget/package.xml b/src/linkerhand_retarget/package.xml
new file mode 100644
index 0000000..cfb575b
--- /dev/null
+++ b/src/linkerhand_retarget/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>linkerhand_retarget</name>
+  <version>2.11.7</version>
+  <description>ROS2 SDK for Linker Hand Teleoperation</description>
+  <maintainer email="support@linker-robotics.com">Linker Robotics</maintainer>
+  <license>MIT</license>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  
+  <exec_depend>rclpy</exec_depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/src/linkerhand_retarget/resource/linkerhand_retarget b/src/linkerhand_retarget/resource/linkerhand_retarget
new file mode 100644
index 0000000..e69de29
diff --git a/src/linkerhand_retarget/setup.cfg b/src/linkerhand_retarget/setup.cfg
new file mode 100644
index 0000000..60b4918
--- /dev/null
+++ b/src/linkerhand_retarget/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/linkerhand_retarget
+[install]
+install_scripts=$base/lib/linkerhand_retarget
diff --git a/src/linkerhand_retarget/setup.py b/src/linkerhand_retarget/setup.py
new file mode 100644
index 0000000..1184add
--- /dev/null
+++ b/src/linkerhand_retarget/setup.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3 
+# -*- coding: utf-8 -*-
+import os
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = 'linkerhand_retarget'
+
+this_dir = os.path.abspath(os.path.dirname(__file__))
+custom_dir = os.path.join(this_dir, package_name, "LinkerHand")
+
+data_files = [
+    ('share/ament_index/resource_index/packages',
+     ['resource/' + package_name]),
+    ('share/' + package_name, ['package.xml']),
+    (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
+]
+
+rescoure_dir = 'resource'
+for dirpath, dirnames, filenames in os.walk(rescoure_dir):
+    share_path = os.path.relpath(dirpath,rescoure_dir)
+    for filename in filenames:
+        file_path = os.path.join(dirpath,filename)
+        data_files.append((os.path.join('share',package_name,share_path),[file_path]))
+        
+setup(
+    name=package_name,
+    version='2.11.4',
+    packages=find_packages(include=[package_name, f"{package_name}.*"]),
+    data_files=data_files,
+    install_requires=[
+        'setuptools',
+        'numpy',
+        'scipy>=1.10.0',
+        'PyYAML',
+        'transforms3d',
+        'anytree',
+        'loguru',
+        'trimesh',
+        'tqdm',
+        'colorama',
+        'lxml',
+    ],
+    zip_safe=True,
+    maintainer='Linker Robotics',
+    maintainer_email='support@linker-robotics.com',
+    description='ROS2 SDK for Linker Hand Teleoperation',
+    license='MIT',
+    entry_points={
+        'console_scripts': [
+            'handretarget = linkerhand_retarget.handretarget:main',
+        ],
+    },
+)
diff --git a/src/linkerhand_retarget/tests/integration/TEST_L6_VERSION_MAPPING.md b/src/linkerhand_retarget/tests/integration/TEST_L6_VERSION_MAPPING.md
new file mode 100644
index 0000000..83c76d5
--- /dev/null
+++ b/src/linkerhand_retarget/tests/integration/TEST_L6_VERSION_MAPPING.md
@@ -0,0 +1,36 @@
+# L6 版本区分与延伸映射优化测试报告
+
+**测试日期：** 2026-03-24  
+**测试版本：** v2.11.7  
+**测试环境：** ROS2 Foxy, LinkerForce L6 左手/右手, 手套版本 v1 (1.2.12)
+
+## 更新内容
+
+1. v1/v2 版本区分支持（weights, reverse_motion 字典格式）
+2. 延伸映射只在 ['original', 'opose'] 模式触发
+3. 移除自动拟合功能
+4. 添加 MULTI_SEGMENT_CONFIG_FROZEN 配置冻结
+5. 更新 README 标定配置建议
+6. 修复标定结束后历史数据加载问题
+7. 添加电机输出约束功能 (MOTOR_CONSTRAINTS)
+8. 优化延伸映射参数
+9. 更新标定样本数据
+
+## 测试内容
+
+| 功能 | 状态 |
+|------|------|
+| v1/v2 版本区分 | ✅ 通过 |
+| 延伸映射触发条件 | ✅ 通过 |
+| 配置冻结机制 | ✅ 通过 |
+| 两段标定+延伸 (open + opose) | ✅ 通过 |
+| 两段标定直连 (open + fist) | ✅ 通过 |
+| 标定历史数据加载 | ✅ 通过 |
+| 左手测试 | ✅ 通过 |
+| 右手测试 | ✅ 通过 |
+| 电机输出约束 | ✅ 通过 |
+| ROS1 同步 | ✅ 通过 |
+
+**结论：** v2.11.7 版本功能正常，可以发布。
+
+**Gitee 分支：** https://gitee.com/ericbrunt/linkerhand_telop_python/tree/fix-linker-bot/linkerhand_telop_python%2310
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/integration/__init__.py b/src/linkerhand_retarget/tests/integration/__init__.py
new file mode 100644
index 0000000..b5508b0
--- /dev/null
+++ b/src/linkerhand_retarget/tests/integration/__init__.py
@@ -0,0 +1 @@
+# Integration tests for linkerhand_retarget
diff --git a/src/linkerhand_retarget/tests/integration/test_config.py b/src/linkerhand_retarget/tests/integration/test_config.py
new file mode 100644
index 0000000..46aae9c
--- /dev/null
+++ b/src/linkerhand_retarget/tests/integration/test_config.py
@@ -0,0 +1,24 @@
+import pytest
+import os
+from pathlib import Path
+from linkerhand.config import HandConfig
+
+
+class TestHandConfig:
+    @pytest.fixture
+    def config_path(self):
+        test_dir = Path(__file__).parent.parent.parent / "linkerhand_retarget"
+        return str(test_dir)
+
+    @pytest.fixture
+    def robot_dir(self):
+        test_dir = Path(__file__).parent.parent.parent / "linkerhand_retarget" / "assets" / "robots"
+        return str(test_dir)
+
+    @pytest.mark.skipif(not Path(__file__).parent.parent.parent.joinpath("linkerhand_retarget/assets").exists(), reason="Assets directory not found")
+    def test_hand_config_initialization(self, config_path, robot_dir):
+        config = HandConfig(robot_dir, config_path)
+        assert config.handconfig is not None
+        assert config.baseconfig is not None
+        assert config.retagetconfig is not None
+        assert config.modelconfig is not None
diff --git a/src/linkerhand_retarget/tests/integration/test_linkerforce.py b/src/linkerhand_retarget/tests/integration/test_linkerforce.py
new file mode 100644
index 0000000..ddc7349
--- /dev/null
+++ b/src/linkerhand_retarget/tests/integration/test_linkerforce.py
@@ -0,0 +1,331 @@
+#!/usr/bin/env python3
+"""LinkerForce 完整集成测试 - 只通过公共接口访问，避免线程竞争"""
+import time
+import sys
+import statistics
+sys.path.insert(0, '/home/linker-brunt/project/linkerhand_telop_sdk/old_git/new/ros2/src/linkerhand_retarget')
+
+from linkerhand_retarget.linkerhand.linkerforce import ForceSerialReader
+from linkerhand_retarget.linkerhand.constants import HandType
+
+
+class LinkerForceIntegrationTest:
+    def __init__(self):
+        self.reader = None
+        self.port = None
+        self.baudrate = None
+        self.test_results = {}
+        
+    def setup(self):
+        """初始化设备连接"""
+        print("=" * 60)
+        print("LinkerForce 完整集成测试")
+        print("=" * 60)
+        
+        self.reader = ForceSerialReader(HandType.left, isdebug=False)
+        
+        print("\n[初始化] 扫描设备...")
+        self.port, self.baudrate, _ = self.reader.find_valid_ports(timeout=3)
+        
+        if self.port is None:
+            self.port = "/dev/ttyUSB0"
+            self.baudrate = 2000000
+        
+        print(f"打开设备: {self.port} @ {self.baudrate}")
+        result = self.reader.openserial(self.port, self.baudrate)
+        if not result:
+            print("打开失败")
+            return False
+        
+        self.reader.start()
+        self.reader.serial_port.write(self.reader.pack_01_data())
+        time.sleep(1)
+        
+        print(f"设备信息: handtype={self.reader.handtype}, version={self.reader.version}")
+        return True
+    
+    def teardown(self):
+        """关闭设备"""
+        if self.reader:
+            try:
+                self.reader.stop()
+            except:
+                pass
+        print("\n设备已关闭")
+    
+    def test_device_info(self):
+        """测试1: 设备信息"""
+        print("\n" + "-" * 40)
+        print("[测试1] 设备信息")
+        print("-" * 40)
+        
+        self.reader.serial_port.write(self.reader.pack_01_data())
+        time.sleep(0.5)
+        
+        print(f"  handtype: {self.reader.handtype}")
+        print(f"  version: {self.reader.version}")
+        print(f"  connflag: {self.reader.connflag}")
+        
+        result = self.reader.handtype is not None and self.reader.version is not None
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def test_position_data_stability(self, duration=5):
+        """测试2: 位置数据稳定性"""
+        print("\n" + "-" * 40)
+        print(f"[测试2] 位置数据稳定性 ({duration}秒)")
+        print("-" * 40)
+        
+        samples = []
+        start_time = time.time()
+        
+        while time.time() - start_time < duration:
+            self.reader.serial_port.write(self.reader.pack_03_data())
+            time.sleep(0.5)
+            if self.reader.poslist and len(self.reader.poslist) > 0:
+                samples.append(list(self.reader.poslist[:10]))
+        
+        if len(samples) < 2:
+            print("  ⚠️ 样本不足")
+            return True
+        
+        num_channels = len(samples[0])
+        stds = []
+        for ch in range(num_channels):
+            channel_data = [s[ch] for s in samples]
+            std = statistics.stdev(channel_data)
+            stds.append(std)
+        
+        avg_std = statistics.mean(stds)
+        max_std = max(stds)
+        
+        print(f"  采样数: {len(samples)}")
+        print(f"  通道数: {num_channels}")
+        print(f"  平均标准差: {avg_std:.6f} rad ({avg_std * 57.3:.4f}°)")
+        print(f"  最大标准差: {max_std:.6f} rad ({max_std * 57.3:.4f}°)")
+        
+        result = max_std < 0.1
+        print(f"  {'✅ 数据稳定' if result else '⚠️ 数据波动较大'}")
+        return result
+    
+    def test_packet_statistics(self, duration=10):
+        """测试3: 数据包统计 - 通过时间戳计算"""
+        print("\n" + "-" * 40)
+        print(f"[测试3] 数据包统计 ({duration}秒)")
+        print("-" * 40)
+        
+        sent_packets = 0
+        initial_count = self.reader.receive_count
+        last_poslist = None
+        data_changes = 0
+        
+        start_time = time.time()
+        
+        while time.time() - start_time < duration:
+            self.reader.serial_port.write(self.reader.pack_03_data())
+            sent_packets += 1
+            time.sleep(0.1)
+            
+            if self.reader.poslist:
+                if last_poslist is not None and self.reader.poslist != last_poslist:
+                    data_changes += 1
+                last_poslist = list(self.reader.poslist)
+            
+            time.sleep(0.4)
+        
+        received_packets = self.reader.receive_count - initial_count
+        response_rate = (received_packets / sent_packets * 100) if sent_packets > 0 else 0
+        
+        print(f"  发送请求: {sent_packets}")
+        print(f"  接收帧数: {received_packets}")
+        print(f"  数据变化: {data_changes}")
+        print(f"  响应率: {response_rate:.1f}%")
+        
+        result = response_rate >= 80
+        print(f"  {'✅ 响应率良好' if result else '⚠️ 响应率较低'}")
+        return result
+    
+    def test_response_interval(self, duration=5):
+        """测试4: 响应间隔测试 - 通过时间戳列表计算"""
+        print("\n" + "-" * 40)
+        print(f"[测试4] 响应间隔测试 ({duration}秒)")
+        print("-" * 40)
+        
+        # 清空时间戳列表
+        self.reader.receive_times = []
+        
+        # 持续发送请求并收集数据
+        start_time = time.time()
+        while time.time() - start_time < duration:
+            self.reader.serial_port.write(self.reader.pack_03_data())
+            time.sleep(0.05)  # 50ms间隔
+        
+        # 从时间戳列表计算帧间隔
+        times = self.reader.receive_times
+        
+        if len(times) >= 2:
+            intervals = []
+            for i in range(1, len(times)):
+                interval = (times[i] - times[i-1]) * 1000  # 转换为ms
+                intervals.append(interval)
+            
+            avg_interval = statistics.mean(intervals)
+            min_interval = min(intervals)
+            max_interval = max(intervals)
+            
+            # 计算帧率
+            fps = len(times) / duration
+            
+            print(f"  接收帧数: {len(times)}")
+            print(f"  平均帧间隔: {avg_interval:.2f} ms")
+            print(f"  最小帧间隔: {min_interval:.2f} ms")
+            print(f"  最大帧间隔: {max_interval:.2f} ms")
+            print(f"  帧率: {fps:.1f} Hz")
+            
+            result = avg_interval < 100
+            print(f"  {'✅ 响应间隔良好' if result else '⚠️ 响应间隔较长'}")
+            return result
+        else:
+            print(f"  接收帧数: {len(times)}")
+            print("  ⚠️ 响应不足")
+            return True
+    
+    def test_continuous_read(self, duration=15):
+        """测试5: 连续读取稳定性"""
+        print("\n" + "-" * 40)
+        print(f"[测试5] 连续读取稳定性 ({duration}秒)")
+        print("-" * 40)
+        
+        initial_count = self.reader.receive_count
+        receive_times = []
+        
+        start_time = time.time()
+        last_count = initial_count
+        
+        while time.time() - start_time < duration:
+            self.reader.serial_port.write(self.reader.pack_03_data())
+            time.sleep(0.5)
+            
+            current_count = self.reader.receive_count
+            if current_count > last_count:
+                receive_times.append(time.time())
+                last_count = current_count
+        
+        total_received = self.reader.receive_count - initial_count
+        
+        # 计算帧间隔
+        if len(receive_times) >= 2:
+            frame_intervals = []
+            for i in range(1, len(receive_times)):
+                interval = (receive_times[i] - receive_times[i-1]) * 1000
+                frame_intervals.append(interval)
+            
+            avg_interval = statistics.mean(frame_intervals)
+            print(f"  接收帧数: {total_received}")
+            print(f"  平均帧间隔: {avg_interval:.2f} ms")
+            print(f"  帧率: {1000/avg_interval:.1f} Hz")
+            
+            result = True
+            print("  ✅ 连续读取稳定")
+            return result
+        else:
+            print(f"  接收帧数: {total_received}")
+            print("  ⚠️ 接收数据不足")
+            return True
+    
+    def test_all_protocols(self):
+        """测试6: 所有协议"""
+        print("\n" + "-" * 40)
+        print("[测试6] 所有协议测试")
+        print("-" * 40)
+        
+        results = {}
+        
+        # 0x01 - 设备信息
+        self.reader.serial_port.write(self.reader.pack_01_data())
+        time.sleep(0.5)
+        results['0x01'] = self.reader.handtype is not None
+        print(f"  0x01 (设备信息): {'✅' if results['0x01'] else '❌'}")
+        
+        # 0x02 - 控制
+        self.reader.serial_port.write(self.reader.pack_02_data(1))
+        time.sleep(0.3)
+        results['0x02'] = True
+        print(f"  0x02 (控制命令): ✅")
+        
+        # 0x03 - 位置数据
+        self.reader.serial_port.write(self.reader.pack_03_data())
+        time.sleep(0.3)
+        results['0x03'] = len(self.reader.poslist) > 0
+        print(f"  0x03 (位置数据): {'✅' if results['0x03'] else '❌'} ({len(self.reader.poslist)} floats)")
+        
+        # 0x04 - 力数据
+        self.reader.serial_port.write(self.reader.pack_04_data())
+        time.sleep(0.3)
+        results['0x04'] = True
+        print(f"  0x04 (力数据): ✅")
+        
+        # 0xA4 - 力发送
+        test_force = [100.0] * 5
+        self.reader.serial_port.write(self.reader.pack_A4_data(test_force))
+        time.sleep(0.3)
+        results['0xA4'] = True
+        print(f"  0xA4 (力发送): ✅")
+        
+        # 0xA7 - 力发送变体
+        self.reader.serial_port.write(self.reader.pack_A7_data(test_force))
+        time.sleep(0.3)
+        results['0xA7'] = True
+        print(f"  0xA7 (力发送变体): ✅")
+        
+        passed = sum(1 for v in results.values() if v)
+        print(f"\n  协议通过: {passed}/{len(results)}")
+        return passed == len(results)
+    
+    def generate_report(self):
+        """生成测试报告"""
+        print("\n" + "=" * 60)
+        print("测试报告")
+        print("=" * 60)
+        
+        print("\n## 测试环境")
+        print(f"- 串口: {self.port}")
+        print(f"- 波特率: {self.baudrate}")
+        print(f"- 设备类型: {self.reader.handtype if self.reader else 'N/A'}")
+        print(f"- 固件版本: {self.reader.version if self.reader else 'N/A'}")
+        print(f"- 总接收帧数: {self.reader.receive_count if self.reader else 'N/A'}")
+        
+        print("\n## 测试结果")
+        passed = sum(1 for r in self.test_results.values() if r)
+        total = len(self.test_results)
+        print(f"- 通过: {passed}/{total}")
+        
+        for name, result in self.test_results.items():
+            status = "✅ 通过" if result else "❌ 失败"
+            print(f"  - {name}: {status}")
+        
+        print("\n" + "=" * 60)
+    
+    def run_all_tests(self):
+        """运行所有测试"""
+        if not self.setup():
+            return
+        
+        try:
+            self.test_results['测试1-设备信息'] = self.test_device_info()
+            self.test_results['测试2-数据稳定性'] = self.test_position_data_stability(duration=5)
+            self.test_results['测试3-数据包统计'] = self.test_packet_statistics(duration=10)
+            self.test_results['测试4-响应间隔'] = self.test_response_interval(duration=5)
+            self.test_results['测试5-连续读取'] = self.test_continuous_read(duration=15)
+            self.test_results['测试6-协议测试'] = self.test_all_protocols()
+        except Exception as e:
+            print(f"\n测试中断: {e}")
+        finally:
+            self.teardown()
+        
+        self.generate_report()
+
+
+if __name__ == "__main__":
+    test = LinkerForceIntegrationTest()
+    test.run_all_tests()
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/integration/test_linkerforce_retarget.py b/src/linkerhand_retarget/tests/integration/test_linkerforce_retarget.py
new file mode 100644
index 0000000..ff70059
--- /dev/null
+++ b/src/linkerhand_retarget/tests/integration/test_linkerforce_retarget.py
@@ -0,0 +1,601 @@
+#!/usr/bin/env python3
+"""LinkerForce Retarget 集成测试 - 无ROS依赖版本"""
+import time
+import sys
+import copy
+import json
+import math
+import threading
+import statistics
+import numpy as np
+from pathlib import Path
+from datetime import datetime, timedelta
+
+sys.path.insert(0, '/home/linker-brunt/project/linkerhand_telop_sdk/old_git/new/ros2/src/linkerhand_retarget')
+
+from linkerhand_retarget.linkerhand.linkerforce import ForceSerialReader
+from linkerhand_retarget.linkerhand.constants import HandType, RobotName, ROBOT_LEN_MAP
+
+
+class MockHandCore:
+    """简化的HandCore用于测试"""
+    def __init__(self, num_joints=25):
+        self.hand_numjoints_r = num_joints
+        self.hand_numjoints_l = num_joints
+        self.hand_lower_limits_r = [-1.57] * num_joints
+        self.hand_upper_limits_r = [1.57] * num_joints
+        self.hand_lower_limits_l = [-1.57] * num_joints
+        self.hand_upper_limits_l = [1.57] * num_joints
+        self.dataminvalue_r = [0] * num_joints
+        self.datamaxvalue_r = [255] * num_joints
+        self.dataminvalue_l = [0] * num_joints
+        self.datamaxvalue_l = [255] * num_joints
+        self.sourcedataindex_r = list(range(num_joints))
+        self.sourcedataindex_l = list(range(num_joints))
+        self.urdfdataindex_r = list(range(num_joints))
+        self.urdfdataindex_l = list(range(num_joints))
+    
+    def trans_to_motor_right(self, qpos):
+        result = [255] * len(qpos)
+        for i, val in enumerate(qpos):
+            val = max(-1.57, min(1.57, val))
+            result[i] = int((val + 1.57) / 3.14 * 255)
+        return result
+    
+    def trans_to_motor_left(self, qpos):
+        return self.trans_to_motor_right(qpos)
+
+
+class RightHand:
+    """简化版右手"""
+    def __init__(self, handcore, length=25):
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+        self.handcore = handcore
+        self.calibrationoriginal = None
+        self.calibrationfistpose = None
+        self.calibrationopose = None
+    
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[15] = joint_arc[3] * -2.5
+        qpos[16] = joint_arc[20] * -2.6
+        qpos[17] = joint_arc[2] * -0.2
+        qpos[18] = joint_arc[1] * -1.5
+        qpos[19] = joint_arc[0] * -1.5
+        qpos[0] = joint_arc[7]
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+        if len(joint_arc) > 18:
+            qpos[4] = joint_arc[19]
+            qpos[5] = joint_arc[18] * -1
+            qpos[6] = joint_arc[17] * -1
+            qpos[7] = joint_arc[16] * -1
+        if len(joint_arc) > 10:
+            qpos[20] = joint_arc[11]
+            qpos[8] = joint_arc[10] * -1
+            qpos[9] = joint_arc[9] * -1
+            qpos[10] = joint_arc[8] * -1
+        if len(joint_arc) > 14:
+            qpos[11] = joint_arc[15]
+            qpos[12] = joint_arc[14] * -1
+            qpos[13] = joint_arc[13] * -1
+            qpos[14] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_right(qpos)
+    
+    def speed_update(self):
+        pass
+
+
+class LeftHand:
+    """简化版左手"""
+    def __init__(self, handcore, length=25):
+        self.g_jointpositions = [255] * length
+        self.g_jointvelocity = [255] * length
+        self.last_jointpositions = [255] * length
+        self.last_jointvelocity = [255] * length
+        self.handstate = [0] * length
+        self.handcore = handcore
+        self.calibrationoriginal = None
+        self.calibrationfistpose = None
+        self.calibrationopose = None
+    
+    def joint_update(self, joint_arc):
+        qpos = np.zeros(25)
+        qpos[15] = joint_arc[3] * 2.5
+        qpos[16] = joint_arc[20] * 2.6
+        qpos[17] = joint_arc[2] * 0.2
+        qpos[18] = joint_arc[1] * 1.5
+        qpos[19] = joint_arc[0] * 1.5
+        qpos[0] = joint_arc[7] * -1
+        qpos[1] = joint_arc[6] * -1
+        qpos[2] = joint_arc[5] * -1
+        qpos[3] = joint_arc[4] * -1
+        if len(joint_arc) > 18:
+            qpos[4] = joint_arc[19] * -1
+            qpos[5] = joint_arc[18] * -1
+            qpos[6] = joint_arc[17] * -1
+            qpos[7] = joint_arc[16] * -1
+        if len(joint_arc) > 10:
+            qpos[20] = joint_arc[11] * 0
+            qpos[8] = joint_arc[10] * -2
+            qpos[9] = joint_arc[9] * -1
+            qpos[10] = joint_arc[8] * -1
+        if len(joint_arc) > 14:
+            qpos[11] = joint_arc[15] * -1
+            qpos[12] = joint_arc[14] * -1
+            qpos[13] = joint_arc[13] * -1
+            qpos[14] = joint_arc[12] * -1
+        self.g_jointpositions = self.handcore.trans_to_motor_left(qpos)
+    
+    def speed_update(self):
+        pass
+
+
+class RetargetCore:
+    """Retarget核心逻辑 - 无ROS依赖"""
+    
+    def __init__(self, 
+                 lefthand: RobotName = RobotName.l21,
+                 righthand: RobotName = RobotName.l21,
+                 calibration: bool = False):
+        self.lefthandtype = lefthand
+        self.righthandtype = righthand
+        self.calibration = calibration
+        
+        self.force_reader_left = None
+        self.force_reader_right = None
+        self.forcelock = threading.Lock()
+        
+        self.handcore = MockHandCore(num_joints=ROBOT_LEN_MAP[lefthand])
+        self.lefthand = LeftHand(handcore=self.handcore, length=ROBOT_LEN_MAP[lefthand])
+        self.righthand = RightHand(handcore=self.handcore, length=ROBOT_LEN_MAP[righthand])
+        
+        self.results = {'left': {}, 'right': {}}
+        self.leftport = None
+        self.rightport = None
+        self.leftbaudrate = None
+        self.rightbaudrate = None
+        
+        self.calibration_data_left = []
+        self.calibration_data_right = []
+        
+        self.running = False
+        self._thread = None
+        
+        self.receive_times_left = []
+        self.receive_times_right = []
+        
+    def linkerforce_init(self):
+        """初始化串口连接"""
+        exclude_list = []
+        baudrates = [2000000, 1000000, 921600, 460800]
+        
+        print("\n[左手] 扫描设备...")
+        self.force_reader_left = ForceSerialReader(
+            HandType.left,
+            excludelist=exclude_list,
+            baudrates=baudrates,
+            isdebug=False
+        )
+        self.leftport, self.leftbaudrate, errorcode = self.force_reader_left.find_valid_ports(timeout=3)
+        
+        if self.leftport:
+            if self.force_reader_left.openserial(port=self.leftport, baudrate=self.leftbaudrate):
+                self.force_reader_left.start()
+                time.sleep(0.1)
+                self.force_reader_left.serial_port.write(self.force_reader_left.pack_01_data())
+                time.sleep(0.5)
+                if self.force_reader_left.handtype == 'Left':
+                    print(f"[左手] 已连接: {self.leftport} @ {self.leftbaudrate}, 版本: {self.force_reader_left.version}")
+                else:
+                    print(f"[左手] 设备类型不匹配: {self.force_reader_left.handtype}")
+            exclude_list.append(self.leftport)
+        else:
+            print("[左手] 未找到设备")
+        
+        print("\n[右手] 扫描设备...")
+        self.force_reader_right = ForceSerialReader(
+            HandType.right,
+            excludelist=exclude_list,
+            baudrates=baudrates,
+            isdebug=False
+        )
+        self.rightport, self.rightbaudrate, errorcode = self.force_reader_right.find_valid_ports(timeout=3)
+        
+        if self.rightport:
+            if self.force_reader_right.openserial(port=self.rightport, baudrate=self.rightbaudrate):
+                self.force_reader_right.start()
+                time.sleep(0.1)
+                self.force_reader_right.serial_port.write(self.force_reader_right.pack_01_data())
+                time.sleep(0.5)
+                if self.force_reader_right.handtype == 'Right':
+                    print(f"[右手] 已连接: {self.rightport} @ {self.rightbaudrate}, 版本: {self.force_reader_right.version}")
+                else:
+                    print(f"[右手] 设备类型不匹配: {self.force_reader_right.handtype}")
+        else:
+            print("[右手] 未找到设备")
+        
+        if self.calibration:
+            self.run_calibration()
+    
+    def _calculate_weighted_average(self, data_list):
+        """计算加权平均值"""
+        if not data_list:
+            return [0.0] * 21
+        
+        n = len(data_list)
+        if n == 1:
+            return data_list[0]
+        
+        weights = [i + 1 for i in range(n)]
+        total_weight = sum(weights)
+        
+        result = [0.0] * len(data_list[0])
+        for i, data in enumerate(data_list):
+            w = weights[i] / total_weight
+            for j in range(len(result)):
+                result[j] += data[j] * w
+        
+        return result
+    
+    def run_calibration(self, duration_per_pose=5):
+        """执行标定流程"""
+        print("\n" + "=" * 50)
+        print("开始标定流程")
+        print("=" * 50)
+        
+        if self.force_reader_left and self.force_reader_left.handtype != 'Left' and \
+           self.force_reader_right and self.force_reader_right.handtype != 'Right':
+            print("无可用设备，跳过标定")
+            return False
+        
+        self.calibration_data_left = []
+        self.calibration_data_right = []
+        
+        print(f"\n[标定 1/3] 请保持五指张开姿势 (对应电机值255)")
+        self._collect_calibration_data(duration_per_pose)
+        if self.calibration_data_left:
+            self.lefthand.calibrationoriginal = self._calculate_weighted_average(self.calibration_data_left)
+        if self.calibration_data_right:
+            self.righthand.calibrationoriginal = self._calculate_weighted_average(self.calibration_data_right)
+        
+        self.calibration_data_left = []
+        self.calibration_data_right = []
+        
+        print(f"\n[标定 2/3] 请握紧拳头 (对应电机值0)")
+        self._collect_calibration_data(duration_per_pose)
+        if self.calibration_data_left:
+            self.lefthand.calibrationfistpose = self._calculate_weighted_average(self.calibration_data_left)
+        if self.calibration_data_right:
+            self.righthand.calibrationfistpose = self._calculate_weighted_average(self.calibration_data_right)
+        
+        self.calibration_data_left = []
+        self.calibration_data_right = []
+        
+        print(f"\n[标定 3/3] 请保持O型手势 (对应电机中间值)")
+        self._collect_calibration_data(duration_per_pose)
+        if self.calibration_data_left:
+            self.lefthand.calibrationopose = self._calculate_weighted_average(self.calibration_data_left)
+        if self.calibration_data_right:
+            self.righthand.calibrationopose = self._calculate_weighted_average(self.calibration_data_right)
+        
+        print("\n标定完成")
+        return True
+    
+    def _collect_calibration_data(self, duration):
+        """采集标定数据"""
+        prepare_time = duration * 0.4
+        collect_time = duration * 0.6
+        
+        print(f"  准备阶段: {prepare_time:.1f}s")
+        time.sleep(prepare_time)
+        
+        print(f"  采集阶段: {collect_time:.1f}s")
+        start = time.time()
+        while time.time() - start < collect_time:
+            if self.force_reader_left and self.force_reader_left.handtype == 'Left':
+                self.calibration_data_left.append(copy.deepcopy(self.force_reader_left.poslist))
+            if self.force_reader_right and self.force_reader_right.handtype == 'Right':
+                self.calibration_data_right.append(copy.deepcopy(self.force_reader_right.poslist))
+            time.sleep(0.05)
+        
+        print(f"  采集样本: 左手 {len(self.calibration_data_left)}, 右手 {len(self.calibration_data_right)}")
+    
+    def process_once(self):
+        """单次数据处理"""
+        if self.force_reader_left and self.force_reader_left.handtype == 'Left':
+            try:
+                self.force_reader_left.serial_port.write(self.force_reader_left.pack_03_data())
+            except:
+                pass
+            left_positions = copy.deepcopy(self.force_reader_left.poslist)
+            self.lefthand.joint_update(left_positions)
+            self.lefthand.speed_update()
+            
+            if self.force_reader_left.receive_times:
+                self.receive_times_left = self.force_reader_left.receive_times[-100:]
+        
+        if self.force_reader_right and self.force_reader_right.handtype == 'Right':
+            try:
+                self.force_reader_right.serial_port.write(self.force_reader_right.pack_03_data())
+            except:
+                pass
+            right_positions = copy.deepcopy(self.force_reader_right.poslist)
+            self.righthand.joint_update(right_positions)
+            self.righthand.speed_update()
+            
+            if self.force_reader_right.receive_times:
+                self.receive_times_right = self.force_reader_right.receive_times[-100:]
+    
+    def _process_loop(self, rate_hz=30):
+        """处理循环"""
+        interval = 1.0 / rate_hz
+        while self.running:
+            self.process_once()
+            time.sleep(interval)
+    
+    def start_processing(self, rate_hz=30):
+        """启动处理线程"""
+        self.running = True
+        self._thread = threading.Thread(target=self._process_loop, args=(rate_hz,), daemon=True)
+        self._thread.start()
+    
+    def stop_processing(self):
+        """停止处理"""
+        self.running = False
+        if self._thread:
+            self._thread.join(timeout=2)
+    
+    def stop(self):
+        """停止所有连接"""
+        self.stop_processing()
+        if self.force_reader_left:
+            try:
+                self.force_reader_left.stop()
+            except:
+                pass
+        if self.force_reader_right:
+            try:
+                self.force_reader_right.stop()
+            except:
+                pass
+    
+    def get_stats(self):
+        """获取统计数据"""
+        stats = {
+            'left': {
+                'connected': self.force_reader_left and self.force_reader_left.handtype == 'Left',
+                'port': self.leftport,
+                'baudrate': self.leftbaudrate,
+                'version': self.force_reader_left.version if self.force_reader_left else None,
+                'receive_count': self.force_reader_left.receive_count if self.force_reader_left else 0,
+                'motor_positions': self.lefthand.g_jointpositions[:6] if self.lefthand else []
+            },
+            'right': {
+                'connected': self.force_reader_right and self.force_reader_right.handtype == 'Right',
+                'port': self.rightport,
+                'baudrate': self.rightbaudrate,
+                'version': self.force_reader_right.version if self.force_reader_right else None,
+                'receive_count': self.force_reader_right.receive_count if self.force_reader_right else 0,
+                'motor_positions': self.righthand.g_jointpositions[:6] if self.righthand else []
+            }
+        }
+        return stats
+
+
+class RetargetIntegrationTest:
+    """Retarget集成测试"""
+    
+    def __init__(self):
+        self.retarget = None
+        self.test_results = {}
+    
+    def setup(self):
+        """初始化"""
+        print("=" * 60)
+        print("LinkerForce Retarget 集成测试 (无ROS)")
+        print("=" * 60)
+        
+        self.retarget = RetargetCore(
+            lefthand=RobotName.l21,
+            righthand=RobotName.l21,
+            calibration=False
+        )
+        self.retarget.linkerforce_init()
+        return True
+    
+    def teardown(self):
+        """清理"""
+        if self.retarget:
+            self.retarget.stop()
+        print("\n设备已关闭")
+    
+    def test_device_connection(self):
+        """测试1: 设备连接"""
+        print("\n" + "-" * 40)
+        print("[测试1] 设备连接")
+        print("-" * 40)
+        
+        stats = self.retarget.get_stats()
+        
+        left_ok = stats['left']['connected']
+        right_ok = stats['right']['connected']
+        
+        print(f"  左手: {'✅ 已连接' if left_ok else '❌ 未连接'}")
+        if left_ok:
+            print(f"    端口: {stats['left']['port']} @ {stats['left']['baudrate']}")
+            print(f"    版本: {stats['left']['version']}")
+        
+        print(f"  右手: {'✅ 已连接' if right_ok else '❌ 未连接'}")
+        if right_ok:
+            print(f"    端口: {stats['right']['port']} @ {stats['right']['baudrate']}")
+            print(f"    版本: {stats['right']['version']}")
+        
+        result = left_ok or right_ok
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def test_joint_mapping(self, duration=5):
+        """测试2: 关节映射"""
+        print("\n" + "-" * 40)
+        print(f"[测试2] 关节映射 ({duration}s)")
+        print("-" * 40)
+        
+        self.retarget.start_processing(rate_hz=30)
+        time.sleep(duration)
+        self.retarget.stop_processing()
+        
+        stats = self.retarget.get_stats()
+        
+        if stats['left']['connected']:
+            motor_pos = stats['left']['motor_positions']
+            print(f"  左手电机位置: {motor_pos}")
+            valid = all(0 <= p <= 255 for p in motor_pos)
+            print(f"  左手映射有效性: {'✅' if valid else '❌'}")
+        
+        if stats['right']['connected']:
+            motor_pos = stats['right']['motor_positions']
+            print(f"  右手电机位置: {motor_pos}")
+            valid = all(0 <= p <= 255 for p in motor_pos)
+            print(f"  右手映射有效性: {'✅' if valid else '❌'}")
+        
+        result = True
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def test_data_rate(self, duration=10):
+        """测试3: 数据帧率"""
+        print("\n" + "-" * 40)
+        print(f"[测试3] 数据帧率 ({duration}s)")
+        print("-" * 40)
+        
+        self.retarget.start_processing(rate_hz=30)
+        
+        initial_left = self.retarget.force_reader_left.receive_count if self.retarget.force_reader_left else 0
+        initial_right = self.retarget.force_reader_right.receive_count if self.retarget.force_reader_right else 0
+        
+        time.sleep(duration)
+        
+        self.retarget.stop_processing()
+        
+        final_left = self.retarget.force_reader_left.receive_count if self.retarget.force_reader_left else 0
+        final_right = self.retarget.force_reader_right.receive_count if self.retarget.force_reader_right else 0
+        
+        left_frames = final_left - initial_left
+        right_frames = final_right - initial_right
+        
+        left_fps = left_frames / duration if left_frames > 0 else 0
+        right_fps = right_frames / duration if right_frames > 0 else 0
+        
+        if left_frames > 0:
+            print(f"  左手: {left_frames} 帧, {left_fps:.1f} Hz")
+        if right_frames > 0:
+            print(f"  右手: {right_frames} 帧, {right_fps:.1f} Hz")
+        
+        result = left_fps >= 5 or right_fps >= 5
+        print(f"  {'✅ 通过' if result else '❌ 帧率过低'}")
+        return result
+    
+    def test_frame_interval(self, duration=5):
+        """测试4: 帧间隔分析"""
+        print("\n" + "-" * 40)
+        print(f"[测试4] 帧间隔分析 ({duration}s)")
+        print("-" * 40)
+        
+        self.retarget.start_processing(rate_hz=30)
+        time.sleep(duration)
+        self.retarget.stop_processing()
+        
+        stats = self.retarget.get_stats()
+        
+        if self.retarget.receive_times_left and len(self.retarget.receive_times_left) >= 2:
+            times = self.retarget.receive_times_left
+            intervals = [(times[i] - times[i-1]) * 1000 for i in range(1, len(times))]
+            avg = statistics.mean(intervals)
+            std = statistics.stdev(intervals) if len(intervals) > 1 else 0
+            print(f"  左手帧间隔: 平均 {avg:.2f}ms, 标准差 {std:.2f}ms")
+        
+        if self.retarget.receive_times_right and len(self.retarget.receive_times_right) >= 2:
+            times = self.retarget.receive_times_right
+            intervals = [(times[i] - times[i-1]) * 1000 for i in range(1, len(times))]
+            avg = statistics.mean(intervals)
+            std = statistics.stdev(intervals) if len(intervals) > 1 else 0
+            print(f"  右手帧间隔: 平均 {avg:.2f}ms, 标准差 {std:.2f}ms")
+        
+        result = True
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def test_calibration(self, duration_per_pose=3):
+        """测试5: 标定流程"""
+        print("\n" + "-" * 40)
+        print("[测试5] 标定流程")
+        print("-" * 40)
+        
+        if not self.retarget.force_reader_left and not self.retarget.force_reader_right:
+            print("  ⚠️ 无设备，跳过")
+            return True
+        
+        print("  开始标定 (每个姿势 3 秒)...")
+        result = self.retarget.run_calibration(duration_per_pose=duration_per_pose)
+        
+        if result:
+            print(f"  左手张开数据: {self.retarget.lefthand.calibrationoriginal[:5] if self.retarget.lefthand.calibrationoriginal else 'N/A'}...")
+            print(f"  左手握拳数据: {self.retarget.lefthand.calibrationfistpose[:5] if self.retarget.lefthand.calibrationfistpose else 'N/A'}...")
+        
+        print(f"  {'✅ 标定完成' if result else '❌ 标定失败'}")
+        return result
+    
+    def generate_report(self):
+        """生成报告"""
+        print("\n" + "=" * 60)
+        print("测试报告")
+        print("=" * 60)
+        
+        stats = self.retarget.get_stats() if self.retarget else {}
+        
+        print("\n## 设备状态")
+        if stats.get('left', {}).get('connected'):
+            print(f"- 左手: {stats['left']['port']} @ {stats['left']['baudrate']}, 版本 {stats['left']['version']}")
+        if stats.get('right', {}).get('connected'):
+            print(f"- 右手: {stats['right']['port']} @ {stats['right']['baudrate']}, 版本 {stats['right']['version']}")
+        
+        print("\n## 测试结果")
+        passed = sum(1 for r in self.test_results.values() if r)
+        total = len(self.test_results)
+        print(f"- 通过: {passed}/{total}")
+        
+        for name, result in self.test_results.items():
+            print(f"  - {name}: {'✅' if result else '❌'}")
+        
+        print("\n" + "=" * 60)
+    
+    def run_all_tests(self):
+        """运行所有测试"""
+        if not self.setup():
+            return
+        
+        try:
+            self.test_results['测试1-设备连接'] = self.test_device_connection()
+            self.test_results['测试2-关节映射'] = self.test_joint_mapping(duration=5)
+            self.test_results['测试3-数据帧率'] = self.test_data_rate(duration=10)
+            self.test_results['测试4-帧间隔'] = self.test_frame_interval(duration=5)
+            # self.test_results['测试5-标定流程'] = self.test_calibration(duration_per_pose=3)
+        except Exception as e:
+            print(f"\n测试中断: {e}")
+            import traceback
+            traceback.print_exc()
+        finally:
+            self.teardown()
+        
+        self.generate_report()
+
+
+if __name__ == "__main__":
+    test = RetargetIntegrationTest()
+    test.run_all_tests()
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/integration/test_linkermcg.py b/src/linkerhand_retarget/tests/integration/test_linkermcg.py
new file mode 100644
index 0000000..3af0758
--- /dev/null
+++ b/src/linkerhand_retarget/tests/integration/test_linkermcg.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python3
+"""LinkerMCG 集成测试 - UDP 客户端"""
+import time
+import sys
+sys.path.insert(0, '/home/linker-brunt/project/linkerhand_telop_sdk/old_git/new/ros2/src/linkerhand_retarget')
+
+from linkerhand_retarget.linkerhand.linkermcgcore import HaoCunScoketUdp, HaoCunData
+
+
+class LinkerMCGIntegrationTest:
+    def __init__(self):
+        self.client = None
+        self.test_results = {}
+        
+    def setup(self, host='192.168.1.23', port=8888):
+        print("=" * 60)
+        print("LinkerMCG 集成测试")
+        print("=" * 60)
+        
+        print(f"\n[初始化] 连接 UDP {host}:{port}...")
+        
+        self.client = HaoCunScoketUdp(host=host, port=port)
+        result = self.client.udp_initial()
+        
+        if result:
+            print(f"✅ UDP 初始化成功")
+            return True
+        else:
+            print(f"❌ UDP 初始化失败")
+            return False
+    
+    def teardown(self):
+        if self.client:
+            self.client.udp_close()
+        print("\n设备已关闭")
+    
+    def test_connection(self):
+        print("\n" + "-" * 40)
+        print("[测试1] 连接状态")
+        print("-" * 40)
+        
+        is_connect = self.client.udp_is_connect()
+        print(f"  is_connected: {is_connect}")
+        
+        print(f"  {'✅ 通过' if is_connect else '❌ 失败'}")
+        return is_connect
+    
+    def test_receive_data(self, duration=5):
+        print("\n" + "-" * 40)
+        print(f"[测试2] 数据接收 ({duration}秒)")
+        print("-" * 40)
+        
+        frame_count = 0
+        last_frame = 0
+        start_time = time.time()
+        
+        while time.time() - start_time < duration:
+            time.sleep(0.5)
+            current_frame = self.client.realmocapdata.frame_index
+            if current_frame > last_frame:
+                frame_count += current_frame - last_frame
+                last_frame = current_frame
+                print(f"  接收帧: {current_frame}")
+        
+        print(f"  总帧数: {frame_count}")
+        print(f"  帧率: {frame_count / duration:.1f} Hz")
+        
+        result = frame_count > 0
+        print(f"  {'✅ 通过' if result else '❌ 无数据'}")
+        return result
+    
+    def test_data_content(self):
+        print("\n" + "-" * 40)
+        print("[测试3] 数据内容")
+        print("-" * 40)
+        
+        time.sleep(1)
+        
+        data = self.client.realmocapdata
+        print(f"  frame_index: {data.frame_index}")
+        print(f"  is_update: {data.is_update}")
+        
+        r_hand = data.jointangle_rHand
+        l_hand = data.jointangle_lHand
+        
+        print(f"  右手关节数: {len(r_hand)}")
+        print(f"  左手关节数: {len(l_hand)}")
+        
+        r_nonzero = any(v != 0.0 for v in r_hand)
+        l_nonzero = any(v != 0.0 for v in l_hand)
+        
+        if r_nonzero:
+            print(f"  右手关节示例: {[f'{v:.2f}' for v in r_hand[:5]]}")
+        if l_nonzero:
+            print(f"  左手关节示例: {[f'{v:.2f}' for v in l_hand[:5]]}")
+        
+        result = len(r_hand) == 25 and len(l_hand) == 25
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def test_continuous_read(self, duration=10):
+        print("\n" + "-" * 40)
+        print(f"[测试4] 连续读取 ({duration}秒)")
+        print("-" * 40)
+        
+        frames = []
+        start_time = time.time()
+        
+        while time.time() - start_time < duration:
+            time.sleep(1)
+            frame = self.client.realmocapdata.frame_index
+            frames.append(frame)
+            print(f"  {int(time.time() - start_time)}s: frame={frame}")
+        
+        if len(frames) >= 2:
+            frame_diff = frames[-1] - frames[0]
+            avg_fps = frame_diff / (duration - 1) if duration > 1 else 0
+            print(f"  平均帧率: {avg_fps:.1f} Hz")
+        
+        result = len(frames) > 0
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def generate_report(self):
+        print("\n" + "=" * 60)
+        print("测试报告")
+        print("=" * 60)
+        
+        print("\n## 测试结果")
+        passed = sum(1 for r in self.test_results.values() if r)
+        total = len(self.test_results)
+        print(f"- 通过: {passed}/{total}")
+        
+        for name, result in self.test_results.items():
+            status = "✅ 通过" if result else "❌ 失败"
+            print(f"  - {name}: {status}")
+        
+        print("\n" + "=" * 60)
+    
+    def run_all_tests(self, host='192.168.1.23', port=8888):
+        if not self.setup(host, port):
+            return
+        
+        try:
+            self.test_results['测试1-连接状态'] = self.test_connection()
+            self.test_results['测试2-数据接收'] = self.test_receive_data(duration=5)
+            self.test_results['测试3-数据内容'] = self.test_data_content()
+            self.test_results['测试4-连续读取'] = self.test_continuous_read(duration=10)
+        except Exception as e:
+            print(f"\n测试中断: {e}")
+        finally:
+            self.teardown()
+        
+        self.generate_report()
+
+
+if __name__ == "__main__":
+    test = LinkerMCGIntegrationTest()
+    test.run_all_tests(host='192.168.11.88', port=9000)
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/integration/test_udexreal.py b/src/linkerhand_retarget/tests/integration/test_udexreal.py
new file mode 100644
index 0000000..9984234
--- /dev/null
+++ b/src/linkerhand_retarget/tests/integration/test_udexreal.py
@@ -0,0 +1,191 @@
+#!/usr/bin/env python3
+"""UdexReal 集成测试 - UDP 设备连接"""
+import time
+import sys
+sys.path.insert(0, '/home/linker-brunt/project/linkerhand_telop_sdk/old_git/new/ros2/src/linkerhand_retarget')
+
+from linkerhand_retarget.linkerhand.udexrealcore import UdexRealScoketUdp, UdexRealData
+
+
+class UdexRealIntegrationTest:
+    def __init__(self):
+        self.client = None
+        self.test_results = {}
+        
+    def setup(self, host='0.0.0.0', port=8888):
+        """初始化设备连接"""
+        print("=" * 60)
+        print("UdexReal 集成测试")
+        print("=" * 60)
+        
+        print(f"\n[初始化] 连接 UDP {host}:{port}...")
+        
+        self.client = UdexRealScoketUdp(host=host, port=port)
+        result = self.client.udp_initial()
+        
+        if result:
+            print(f"✅ UDP 初始化成功")
+            return True
+        else:
+            print(f"❌ UDP 初始化失败")
+            return False
+    
+    def teardown(self):
+        """关闭设备"""
+        if self.client:
+            self.client.udp_close()
+        print("\n设备已关闭")
+    
+    def test_connection(self):
+        """测试1: 连接状态"""
+        print("\n" + "-" * 40)
+        print("[测试1] 连接状态")
+        print("-" * 40)
+        
+        status = self.client.get_connection_status()
+        print(f"  is_connected: {status['is_connected']}")
+        print(f"  is_data_timeout: {status['is_data_timeout']}")
+        
+        result = status['is_connected']
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def test_receive_data(self, duration=5):
+        """测试2: 数据接收"""
+        print("\n" + "-" * 40)
+        print(f"[测试2] 数据接收 ({duration}秒)")
+        print("-" * 40)
+        
+        frame_count = 0
+        last_frame = 0
+        start_time = time.time()
+        
+        while time.time() - start_time < duration:
+            time.sleep(0.5)
+            current_frame = self.client.realmocapdata.frame_index
+            if current_frame > last_frame:
+                frame_count += current_frame - last_frame
+                last_frame = current_frame
+                print(f"  接收帧: {current_frame}")
+        
+        print(f"  总帧数: {frame_count}")
+        print(f"  帧率: {frame_count / duration:.1f} Hz")
+        
+        result = frame_count > 0
+        print(f"  {'✅ 通过' if result else '❌ 无数据'}")
+        return result
+    
+    def test_data_content(self):
+        """测试3: 数据内容"""
+        print("\n" + "-" * 40)
+        print("[测试3] 数据内容")
+        print("-" * 40)
+        
+        time.sleep(1)
+        
+        data = self.client.realmocapdata
+        print(f"  frame_index: {data.frame_index}")
+        print(f"  frequency: {data.frequency}")
+        print(f"  is_update: {data.is_update}")
+        
+        # 检查关节数据
+        r_hand = data.jointangle_rHand
+        l_hand = data.jointangle_lHand
+        
+        print(f"  右手关节数: {len(r_hand)}")
+        print(f"  左手关节数: {len(l_hand)}")
+        
+        # 检查是否有非零数据
+        r_nonzero = any(v != 0.0 for v in r_hand)
+        l_nonzero = any(v != 0.0 for v in l_hand)
+        
+        if r_nonzero:
+            print(f"  右手关节示例: {r_hand[:5]}")
+        if l_nonzero:
+            print(f"  左手关节示例: {l_hand[:5]}")
+        
+        result = len(r_hand) == 24 and len(l_hand) == 24
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def test_timeout_detection(self, timeout=2):
+        """测试4: 超时检测"""
+        print("\n" + "-" * 40)
+        print(f"[测试4] 超时检测")
+        print("-" * 40)
+        
+        timeout_status = self.client.check_timeout()
+        print(f"  is_timeout: {timeout_status.is_timeout}")
+        print(f"  time_since_last_data: {timeout_status.time_since_last_data:.3f}s")
+        print(f"  timeout_threshold: {timeout_status.timeout_threshold}s")
+        
+        result = True  # 功能存在即通过
+        print(f"  ✅ 超时检测功能正常")
+        return result
+    
+    def test_continuous_read(self, duration=10):
+        """测试5: 连续读取"""
+        print("\n" + "-" * 40)
+        print(f"[测试5] 连续读取 ({duration}秒)")
+        print("-" * 40)
+        
+        frames = []
+        start_time = time.time()
+        
+        while time.time() - start_time < duration:
+            time.sleep(1)
+            frame = self.client.realmocapdata.frame_index
+            frames.append(frame)
+            timeout_status = self.client.check_timeout()
+            status = "⏰ 超时" if timeout_status.is_timeout else "✓"
+            print(f"  {int(time.time() - start_time)}s: frame={frame} {status}")
+        
+        # 计算帧率
+        if len(frames) >= 2:
+            frame_diff = frames[-1] - frames[0]
+            avg_fps = frame_diff / (duration - 1) if duration > 1 else 0
+            print(f"  平均帧率: {avg_fps:.1f} Hz")
+        
+        result = len(frames) > 0
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def generate_report(self):
+        """生成测试报告"""
+        print("\n" + "=" * 60)
+        print("测试报告")
+        print("=" * 60)
+        
+        print("\n## 测试结果")
+        passed = sum(1 for r in self.test_results.values() if r)
+        total = len(self.test_results)
+        print(f"- 通过: {passed}/{total}")
+        
+        for name, result in self.test_results.items():
+            status = "✅ 通过" if result else "❌ 失败"
+            print(f"  - {name}: {status}")
+        
+        print("\n" + "=" * 60)
+    
+    def run_all_tests(self, host='0.0.0.0', port=8888):
+        """运行所有测试"""
+        if not self.setup(host, port):
+            return
+        
+        try:
+            self.test_results['测试1-连接状态'] = self.test_connection()
+            self.test_results['测试2-数据接收'] = self.test_receive_data(duration=5)
+            self.test_results['测试3-数据内容'] = self.test_data_content()
+            self.test_results['测试4-超时检测'] = self.test_timeout_detection()
+            self.test_results['测试5-连续读取'] = self.test_continuous_read(duration=10)
+        except Exception as e:
+            print(f"\n测试中断: {e}")
+        finally:
+            self.teardown()
+        
+        self.generate_report()
+
+
+if __name__ == "__main__":
+    test = UdexRealIntegrationTest()
+    test.run_all_tests(host='0.0.0.0', port=8888)
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/integration/test_vtrdyn.py b/src/linkerhand_retarget/tests/integration/test_vtrdyn.py
new file mode 100644
index 0000000..dc38491
--- /dev/null
+++ b/src/linkerhand_retarget/tests/integration/test_vtrdyn.py
@@ -0,0 +1,162 @@
+#!/usr/bin/env python3
+"""VtrDyn 集成测试 - UDP 设备"""
+import time
+import sys
+sys.path.insert(0, '/home/linker-brunt/project/linkerhand_telop_sdk/old_git/new/ros2/src/linkerhand_retarget')
+
+from linkerhand_retarget.linkerhand.vtrdyncore import VtrdynSocketUdp, MocapData
+
+
+class VtrDynIntegrationTest:
+    def __init__(self):
+        self.client = None
+        self.test_results = {}
+        
+    def setup(self, local_port=7000, remote_ip='192.168.11.88', remote_port=7000):
+        print("=" * 60)
+        print("VtrDyn 集成测试")
+        print("=" * 60)
+        
+        print(f"\n[初始化] 本地端口 {local_port}, 远程 {remote_ip}:{remote_port}...")
+        
+        self.client = VtrdynSocketUdp(debug=True)
+        result = self.client.udp_initial(local_port)
+        
+        if not result:
+            print(f"❌ UDP 初始化失败")
+            return False
+        
+        print(f"✅ UDP 初始化成功")
+        
+        dst_addr = (remote_ip, remote_port)
+        conn_result = self.client.udp_send_request_connect(dst_addr)
+        
+        if conn_result:
+            print(f"✅ 连接成功")
+        else:
+            print(f"⚠️ 发送连接请求，等待数据...")
+        
+        return True
+    
+    def teardown(self):
+        if self.client:
+            self.client.udp_close(('192.168.11.88', 7000))
+        print("\n设备已关闭")
+    
+    def test_connection(self):
+        print("\n" + "-" * 40)
+        print("[测试1] 连接状态")
+        print("-" * 40)
+        
+        is_connect = self.client.udp_is_onnect()
+        print(f"  is_connected: {is_connect}")
+        
+        print(f"  {'✅ 通过' if is_connect else '❌ 失败'}")
+        return is_connect
+    
+    def test_receive_data(self, duration=5):
+        print("\n" + "-" * 40)
+        print(f"[测试2] 数据接收 ({duration}秒)")
+        print("-" * 40)
+        
+        frame_count = 0
+        last_frame = 0
+        start_time = time.time()
+        
+        while time.time() - start_time < duration:
+            time.sleep(0.5)
+            current_frame = self.client.mocap_data_realtime.frame_index
+            if current_frame > last_frame:
+                frame_count += current_frame - last_frame
+                last_frame = current_frame
+                print(f"  接收帧: {current_frame}")
+        
+        print(f"  总帧数: {frame_count}")
+        print(f"  帧率: {frame_count / duration:.1f} Hz")
+        
+        result = frame_count > 0
+        print(f"  {'✅ 通过' if result else '❌ 无数据'}")
+        return result
+    
+    def test_data_content(self):
+        print("\n" + "-" * 40)
+        print("[测试3] 数据内容")
+        print("-" * 40)
+        
+        time.sleep(1)
+        
+        data = self.client.mocap_data_realtime
+        print(f"  frame_index: {data.frame_index}")
+        print(f"  frequency: {data.frequency}")
+        print(f"  is_update: {data.is_update}")
+        
+        print(f"  身体节点数: {len(data.position_body)}")
+        print(f"  右手节点数: {len(data.position_rHand)}")
+        print(f"  左手节点数: {len(data.position_lHand)}")
+        
+        body_pos = data.position_body[0] if data.position_body else [0,0,0]
+        print(f"  身体位置示例: {[f'{v:.3f}' for v in body_pos]}")
+        
+        result = len(data.position_body) == 23
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def test_continuous_read(self, duration=10):
+        print("\n" + "-" * 40)
+        print(f"[测试4] 连续读取 ({duration}秒)")
+        print("-" * 40)
+        
+        frames = []
+        start_time = time.time()
+        
+        while time.time() - start_time < duration:
+            time.sleep(1)
+            frame = self.client.mocap_data_realtime.frame_index
+            frames.append(frame)
+            print(f"  {int(time.time() - start_time)}s: frame={frame}")
+        
+        if len(frames) >= 2:
+            frame_diff = frames[-1] - frames[0]
+            avg_fps = frame_diff / (duration - 1) if duration > 1 else 0
+            print(f"  平均帧率: {avg_fps:.1f} Hz")
+        
+        result = len(frames) > 0
+        print(f"  {'✅ 通过' if result else '❌ 失败'}")
+        return result
+    
+    def generate_report(self):
+        print("\n" + "=" * 60)
+        print("测试报告")
+        print("=" * 60)
+        
+        print("\n## 测试结果")
+        passed = sum(1 for r in self.test_results.values() if r)
+        total = len(self.test_results)
+        print(f"- 通过: {passed}/{total}")
+        
+        for name, result in self.test_results.items():
+            status = "✅ 通过" if result else "❌ 失败"
+            print(f"  - {name}: {status}")
+        
+        print("\n" + "=" * 60)
+    
+    def run_all_tests(self, local_port=7000, remote_ip='192.168.11.88', remote_port=7000):
+        if not self.setup(local_port, remote_ip, remote_port):
+            return
+        
+        try:
+            self.test_results['测试1-连接状态'] = self.test_connection()
+            self.test_results['测试2-数据接收'] = self.test_receive_data(duration=5)
+            self.test_results['测试3-数据内容'] = self.test_data_content()
+            self.test_results['测试4-连续读取'] = self.test_continuous_read(duration=10)
+        except Exception as e:
+            print(f"\n测试中断: {e}")
+        finally:
+            self.teardown()
+        
+        self.generate_report()
+
+
+if __name__ == "__main__":
+    test = VtrDynIntegrationTest()
+    test.run_all_tests(local_port=7000, remote_ip='192.168.11.88', remote_port=7000)
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/unit/TEST_LINKERFORCE.md b/src/linkerhand_retarget/tests/unit/TEST_LINKERFORCE.md
new file mode 100644
index 0000000..39ba7b4
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/TEST_LINKERFORCE.md
@@ -0,0 +1,188 @@
+# LinkerForce 集成测试报告
+
+测试日期: 2026-03-03  
+测试设备: LinkerForce 左手数据手套  
+测试结果: 6/6 通过
+
+---
+
+## 启动命令
+
+```bash
+cd /home/linker-brunt/project/linkerhand_telop_sdk/old_git/new/ros2/src/linkerhand_retarget
+python3 tests/integration/test_linkerforce.py
+```
+
+前提条件:
+- LinkerForce 设备已连接到 `/dev/ttyUSB0`
+- 波特率: 2000000
+
+---
+
+## 测试环境
+
+- 串口: /dev/ttyUSB0
+- 波特率: 2000000
+- 设备类型: Left (左手)
+- 固件版本: 1.2.12
+- 总接收帧数: 1266
+
+---
+
+## 测试结果
+
+| 测试项 | 结果 | 关键指标 |
+|--------|------|----------|
+| 设备信息 | 通过 | handtype=Left, version=1.2.12 |
+| 数据稳定性 | 通过 | 标准差 0.00007 rad (0.004°) |
+| 数据包统计 | 通过 | 315帧/10秒, 数据变化率 95% |
+| 响应间隔 | 通过 | 平均 30.82ms, 帧率 20Hz |
+| 连续读取 | 通过 | 485帧/15秒, 稳定无断开 |
+| 协议测试 | 通过 | 6/6 协议通过 |
+
+---
+
+## 详细数据
+
+### 1. 设备信息测试
+
+```
+handtype: Left
+version: 1.2.12
+connflag: True
+```
+
+### 2. 位置数据稳定性测试 (5秒)
+
+- 采样数: 10
+- 通道数: 10
+- 平均标准差: 0.000071 rad (0.0041°)
+- 最大标准差: 0.000254 rad (0.0145°)
+
+数据稳定性良好。
+
+### 3. 数据包统计测试 (10秒)
+
+- 发送请求: 20
+- 接收帧数: 315
+- 数据变化: 19
+- 帧率: ~31.5 Hz
+
+设备持续输出数据。
+
+### 4. 响应间隔测试 (5秒)
+
+- 接收帧数: 100
+- 平均帧间隔: 30.82 ms
+- 最小帧间隔: 12.11 ms
+- 最大帧间隔: 42.87 ms
+- 帧率: 20.0 Hz
+
+响应及时稳定。
+
+### 5. 连续读取稳定性测试 (15秒)
+
+- 接收帧数: 485
+- 平均帧间隔: 500.68 ms
+- 帧率: 2.0 Hz (受测试间隔限制)
+- 设备断开: 0 次
+
+稳定运行，无断开无错误。
+
+### 6. 协议测试
+
+| 协议 | 功能 | 状态 |
+|------|------|------|
+| 0x01 | 设备信息 | 通过 |
+| 0x02 | 控制命令 | 通过 |
+| 0x03 | 位置数据 | 通过 (21 floats) |
+| 0x04 | 力数据 | 通过 |
+| 0xA4 | 力发送 | 通过 |
+| 0xA7 | 力发送变体 | 通过 |
+
+---
+
+## 协议说明
+
+### 支持的协议命令
+
+| 命令码 | 功能 | 方向 | 说明 |
+|--------|------|------|------|
+| 0x01 | 设备信息 | 主机→设备 | 查询设备类型和版本 |
+| 0x02 | 控制命令 | 主机→设备 | 发送控制参数 |
+| 0x03 | 位置数据 | 设备→主机 | 返回21个关节角度(float) |
+| 0x04 | 力数据 | 设备→主机 | 返回力传感器数据(int16) |
+| 0xA4 | 力发送 | 主机→设备 | 发送力反馈数据 |
+| 0xA7 | 力发送变体 | 主机→设备 | 发送力反馈数据(备用) |
+
+### 数据格式
+
+位置数据 (0x03):
+- 格式: 21个 float (小端序)
+- 单位: 弧度
+- 更新频率: ~20-30 Hz
+
+力数据 (0x04):
+- 格式: 5个 int16
+- 单位: 原始ADC值
+
+---
+
+## 测试结论
+
+设备工作正常:
+- 通信稳定: 无断开、无错误
+- 数据精确: 角度标准差 < 0.015°
+- 响应及时: 平均帧间隔 30ms, 帧率 20Hz
+- 协议完整: 6个协议全部通过
+
+---
+
+## 测试文件结构
+
+```
+tests/
+├── TEST_LINKERFORCE.md           # 本测试报告
+├── unit/
+│   ├── test_linkerforce.py       # LinkerForce 单元测试
+│   ├── test_filter.py            # 滤波器测试
+│   ├── test_constants.py         # 常量测试
+│   ├── test_handcore.py          # HandCore测试
+│   ├── test_handcoreex.py        # HandCoreEx测试
+│   ├── test_linkermcgcore.py     # LinkerMCG测试
+│   ├── test_sensenovacore.py     # SenseNova测试
+│   ├── test_udexrealcore.py      # UdexReal测试
+│   ├── test_utils.py             # 工具函数测试
+│   └── test_vtrdyncore.py        # VtrDyn测试
+└── integration/
+    ├── test_linkerforce.py       # LinkerForce 集成测试
+    └── test_config.py            # 测试配置
+```
+
+### LinkerForce 测试文件
+
+单元测试 `tests/unit/test_linkerforce.py`:
+- CircularBuffer 测试 (7项)
+- FrameParser 测试 (5项)
+- 常量测试 (4项)
+
+集成测试 `tests/integration/test_linkerforce.py`:
+- 设备信息测试
+- 数据稳定性测试
+- 数据包统计测试
+- 响应间隔测试
+- 连续读取测试
+- 协议测试
+
+## 运行测试
+
+```bash
+# 进入测试目录
+cd ros2/src/linkerhand_retarget
+
+# 运行单元测试
+PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 python3 -m pytest tests/unit/ -v
+
+# 运行集成测试 (需连接设备)
+python3 tests/integration/test_linkerforce.py
+```
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/unit/TEST_LINKERMCG.md b/src/linkerhand_retarget/tests/unit/TEST_LINKERMCG.md
new file mode 100644
index 0000000..addd793
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/TEST_LINKERMCG.md
@@ -0,0 +1,76 @@
+# LinkerMCG 集成测试报告
+
+**测试日期**: 2026-03-04  
+**测试设备**: LinkerMCG 数据手套  
+**测试结果**: ✅ 3/4 通过
+
+---
+
+## 测试环境
+
+| 项目 | 值 |
+|------|-----|
+| 协议 | UDP 客户端 |
+| 目标地址 | 192.168.11.88 |
+| 端口 | 9000 |
+| 关节数 | 25/手 |
+
+---
+
+## 测试结果总览
+
+| 测试项 | 结果 | 说明 |
+|--------|------|------|
+| 连接状态 | ✅ | UDP 连接成功 |
+| 数据接收 | ⚠️ | 启动延迟约6秒 | UDP软件手动启动
+| 数据内容 | ✅ | 数据结构正确 |
+| 连续读取 | ✅ | 帧率 14.8 Hz |
+
+---
+
+## 详细测试数据
+
+### 1. 连接状态测试
+
+```
+is_connected: True
+```
+
+### 2. 数据接收测试 (5秒)
+
+前5秒无数据，数据在第6秒后开始到达。
+
+### 3. 数据内容测试
+
+| 指标 | 值 |
+|------|-----|
+| 右手关节数 | 25 |
+| 左手关节数 | 25 |
+
+### 4. 连续读取测试 (10秒)
+
+| 指标 | 值 |
+|------|-----|
+| 最终帧数 | 133 |
+| 平均帧率 | 14.8 Hz |
+
+---
+
+## 测试结论
+
+1. **网络连接**: 正常
+2. **数据传输**: 正常，启动有延迟
+3. **帧率**: 14.8 Hz
+
+---
+
+## 运行测试
+
+```bash
+cd ros2/src/linkerhand_retarget
+python3 tests/integration/test_linkermcg.py
+```
+
+---
+
+**报告生成时间**: 2026-03-04
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/unit/TEST_UDEXREAL.md b/src/linkerhand_retarget/tests/unit/TEST_UDEXREAL.md
new file mode 100644
index 0000000..82b5054
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/TEST_UDEXREAL.md
@@ -0,0 +1,121 @@
+# UdexReal 集成测试报告
+
+**测试日期**: 2026-03-03  
+**测试设备**: UdexReal 动捕设备  
+**测试结果**: ✅ 5/5 通过
+
+---
+
+## 测试环境
+
+| 项目 | 值 |
+|------|-----|
+| 协议 | UDP |
+| 本地地址 | 0.0.0.0 |
+| 端口 | 8888 |
+| 帧率 | ~124 Hz |
+
+---
+
+## 测试结果总览
+
+| 测试项 | 结果 | 关键指标 |
+|--------|------|----------|
+| 连接状态 | ✅ | UDP 连接成功 |
+| 数据接收 | ✅ | 619帧/5秒, 123.8 Hz |
+| 数据内容 | ✅ | 24个关节/手 |
+| 超时检测 | ✅ | 功能正常 |
+| 连续读取 | ✅ | 123.7 Hz, 无断开 |
+
+---
+
+## 详细测试数据
+
+### 1. 连接状态测试
+
+```
+is_connected: True
+is_data_timeout: False
+```
+
+### 2. 数据接收测试 (5秒)
+
+| 指标 | 值 |
+|------|-----|
+| 接收帧数 | 619 |
+| 帧率 | 123.8 Hz |
+
+### 3. 数据内容测试
+
+| 指标 | 值 |
+|------|-----|
+| frame_index | 741 |
+| 右手关节数 | 24 |
+| 左手关节数 | 24 |
+| 左手关节示例 | [0.0, -0.82, 0.17, 0.44, -0.23] |
+
+### 4. 超时检测测试
+
+| 指标 | 值 |
+|------|-----|
+| is_timeout | False |
+| time_since_last_data | 0.008s |
+| timeout_threshold | 1.0s |
+
+### 5. 连续读取测试 (10秒)
+
+| 指标 | 值 |
+|------|-----|
+| 平均帧率 | 123.7 Hz |
+| 超时次数 | 0 |
+
+---
+
+## 数据质量评估
+
+### 通信性能
+
+| 指标 | 值 | 评估 |
+|------|-----|------|
+| 帧率 | 123.7 Hz | 优秀 |
+| 连接稳定性 | 无断开 | ✅ |
+| 超时次数 | 0 | ✅ |
+
+### 数据格式
+
+**关节数据:**
+- 关节数: 24/手
+- 数据类型: float (弧度)
+- 更新频率: ~124 Hz
+
+---
+
+## 测试结论
+
+### 总体评价
+
+✅ **设备工作正常**
+
+1. **连接稳定**: UDP 连接正常
+2. **帧率高**: 124 Hz
+3. **数据完整**: 24个关节数据
+4. **超时检测**: 功能正常
+
+---
+
+## 运行测试
+
+```bash
+# 进入测试目录
+cd ros2/src/linkerhand_retarget
+
+# 运行单元测试
+PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 python3 -m pytest tests/unit/test_udexrealcore.py -v
+
+# 运行集成测试 (需连接设备)
+python3 tests/integration/test_udexreal.py
+```
+
+---
+
+**报告生成时间**: 2026-03-03
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/unit/TEST_VTRDYN.md b/src/linkerhand_retarget/tests/unit/TEST_VTRDYN.md
new file mode 100644
index 0000000..4aa946a
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/TEST_VTRDYN.md
@@ -0,0 +1,97 @@
+# VtrDyn 集成测试报告
+
+**测试日期**: 2026-03-04  
+**测试设备**: VtrDyn 动捕设备  
+**测试结果**: ✅ 4/4 通过
+
+---
+
+## 测试环境
+
+| 项目 | 值 |
+|------|-----|
+| 协议 | UDP |
+| 本地端口 | 7000 |
+| 远程地址 | 192.168.11.88:7000 |
+
+---
+
+## 测试结果总览
+
+| 测试项 | 结果 | 说明 |
+|--------|------|------|
+| 连接状态 | ✅ | UDP 连接成功 |
+| 数据接收 | ✅ | 帧率 27.8 Hz |
+| 数据内容 | ✅ | 数据结构正确 |
+| 连续读取 | ✅ | 持续接收数据 |
+
+---
+
+## 详细测试数据
+
+### 1. 连接状态测试
+
+```
+is_connected: True
+Connection established
+```
+
+### 2. 数据接收测试 (5秒)
+
+| 指标 | 值 |
+|------|-----|
+| 接收帧数 | 139 |
+| 帧率 | 27.8 Hz |
+
+### 3. 数据内容测试
+
+| 指标 | 值 |
+|------|-----|
+| frame_index | 166 |
+| frequency | 60 |
+| 身体节点数 | 23 |
+| 右手节点数 | 20 |
+| 左手节点数 | 20 |
+
+### 4. 连续读取测试 (10秒)
+
+| 指标 | 值 |
+|------|-----|
+| 最终帧数 | 221 |
+
+---
+
+## 数据格式
+
+**节点配置:**
+- 身体节点: 23
+- 右手节点: 20
+- 左手节点: 20
+
+**数据类型:**
+- 位置 (position)
+- 四元数 (quaternion)
+- 陀螺仪 (gyr)
+- 加速度计 (acc)
+- 速度 (velocity)
+
+---
+
+## 测试结论
+
+1. 连接正常
+2. 数据接收正常
+3. 帧率稳定
+
+---
+
+## 运行测试
+
+```bash
+cd ros2/src/linkerhand_retarget
+python3 tests/integration/test_vtrdyn.py
+```
+
+---
+
+**报告生成时间**: 2026-03-04
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/unit/__init__.py b/src/linkerhand_retarget/tests/unit/__init__.py
new file mode 100644
index 0000000..322f1e0
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/__init__.py
@@ -0,0 +1 @@
+# Unit tests for linkerhand_retarget
diff --git a/src/linkerhand_retarget/tests/unit/plot_mapping_curve.py b/src/linkerhand_retarget/tests/unit/plot_mapping_curve.py
new file mode 100644
index 0000000..427c7a0
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/plot_mapping_curve.py
@@ -0,0 +1,236 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Mapping Curve Visualization Script
+Plot open → opose → fist sensor and motor value curves for a single DOF
+
+Usage:
+    python3 plot_mapping_curve.py <joint_index>
+    
+    joint_index: 0-19 (robot_idx)
+    
+    Joint mapping:
+        0: Thumb Rotate
+        1: Thumb Abduction
+        2: Thumb Root Flexion
+        3: Thumb End Flexion
+        5: Index Roll
+        6: Index Root Flexion
+        7: Index End Flexion
+        9: Middle Roll
+        10: Middle Root Flexion
+        11: Middle End Flexion
+        13: Ring Roll
+        14: Ring Root Flexion
+        15: Ring End Flexion
+        17: Pinky Roll
+        18: Pinky Root Flexion
+        19: Pinky End Flexion
+    
+Example:
+    python3 plot_mapping_curve.py 6  # Index Root Flexion
+"""
+
+import sys
+import json
+import numpy as np
+import matplotlib.pyplot as plt
+from pathlib import Path
+
+# Joint name mapping
+JOINT_NAMES = {
+    0: 'Thumb Rotate',
+    1: 'Thumb Abduction',
+    2: 'Thumb Root Flexion',
+    3: 'Thumb End Flexion',
+    5: 'Index Roll',
+    6: 'Index Root Flexion',
+    7: 'Index End Flexion',
+    9: 'Middle Roll',
+    10: 'Middle Root Flexion',
+    11: 'Middle End Flexion',
+    13: 'Ring Roll',
+    14: 'Ring Root Flexion',
+    15: 'Ring End Flexion',
+    17: 'Pinky Roll',
+    18: 'Pinky Root Flexion',
+    19: 'Pinky End Flexion',
+}
+
+# Sensor index mapping (sensor array index for each robot_idx)
+SENSOR_MAP = {
+    0: 1,   # Thumb Rotate -> sensor[1]
+    1: 0,   # Thumb Abduction -> sensor[0]
+    2: 2,   # Thumb Root Flexion -> sensor[2]
+    3: 4,   # Thumb End Flexion -> sensor[4]
+    5: 5,   # Index Roll -> sensor[5]
+    6: 6,   # Index Root Flexion -> sensor[6]
+    7: 8,   # Index End Flexion -> sensor[8]
+    9: 9,   # Middle Roll -> sensor[9]
+    10: 10, # Middle Root Flexion -> sensor[10]
+    11: 12, # Middle End Flexion -> sensor[12]
+    13: 12, # Ring Roll -> sensor[12] (shared with middle)
+    14: 14, # Ring Root Flexion -> sensor[14]
+    15: 16, # Ring End Flexion -> sensor[16]
+    17: 17, # Pinky Roll -> sensor[17]
+    18: 18, # Pinky Root Flexion -> sensor[18]
+    19: 20, # Pinky End Flexion -> sensor[20]
+}
+
+# exp_factor for each joint
+EXP_FACTORS = {
+    0: 1,   # Thumb Rotate
+    1: 1,   # Thumb Abduction
+    2: 5,   # Thumb Root Flexion
+    3: 7,   # Thumb End Flexion
+    5: 1,   # Index Roll
+    6: 4,   # Index Root Flexion
+    7: 3,   # Index End Flexion
+    9: 1,   # Middle Roll
+    10: 5,  # Middle Root Flexion
+    11: 10, # Middle End Flexion
+    13: 1,  # Ring Roll
+    14: 5,  # Ring Root Flexion
+    15: 18, # Ring End Flexion
+    17: 1,  # Pinky Roll
+    18: 5,  # Pinky Root Flexion
+    19: 8,  # Pinky End Flexion
+}
+
+TMP_FILE = Path(__file__).resolve().parent.parent.parent / "linkerhand_retarget" / "motion" / "linkerforce" / "tmp" / "jointangle_data.tmp"
+
+MOTOR_OPEN = 255
+MOTOR_OPOSE = 128
+MOTOR_FIST = 0
+
+def map_value(sensor_val, sensor_open, sensor_opose, sensor_fist, exp_factor, debug=False):
+    if abs(sensor_opose - sensor_open) < 1e-6:
+        normalized = 0.5
+    else:
+        normalized = (sensor_val - sensor_open) / (sensor_opose - sensor_open)
+    
+    if normalized <= 0:
+        return MOTOR_OPEN, normalized
+    elif normalized <= 1:
+        return MOTOR_OPEN + normalized * (MOTOR_OPOSE - MOTOR_OPEN), normalized
+    else:
+        normalized_fist = (sensor_fist - sensor_open) / (sensor_opose - sensor_open) if abs(sensor_opose - sensor_open) > 1e-6 else 1.5
+        t_max = normalized_fist - 1.0
+        t = min(normalized - 1.0, t_max)
+        slope = MOTOR_FIST - MOTOR_OPOSE
+        S1 = MOTOR_OPOSE - MOTOR_OPEN
+        k = slope / (t_max * S1) - 1
+        ratio = t / t_max
+        extension = slope * (ratio + k * ratio ** exp_factor) / (1 + k)
+        result = MOTOR_OPOSE + extension
+        if debug:
+            print(f"normalized_fist={normalized_fist:.4f}, t_max={t_max:.4f}, slope={slope}, S1={S1}, k={k:.4f}, exp_factor={exp_factor}")
+        return max(MOTOR_FIST, result), normalized
+
+def generate_curve_data(sensor_open, sensor_opose, sensor_fist, exp_factor, steps=200):
+    sensor_min = min(sensor_open, sensor_fist) - 0.1
+    sensor_max = max(sensor_open, sensor_opose, sensor_fist) + 0.2
+    
+    sensor_values = np.linspace(sensor_min, sensor_max, steps)
+    motor_values = []
+    normalized_values = []
+    
+    for s in sensor_values:
+        motor, normalized = map_value(s, sensor_open, sensor_opose, sensor_fist, exp_factor)
+        motor_values.append(motor)
+        normalized_values.append(normalized)
+    
+    return sensor_values, motor_values, normalized_values
+
+def main():
+    if len(sys.argv) < 2:
+        print(__doc__)
+        return
+    
+    try:
+        joint_idx = int(sys.argv[1])
+    except ValueError:
+        print(f"Error: joint_index must be an integer")
+        print(__doc__)
+        return
+    
+    if joint_idx not in JOINT_NAMES:
+        print(f"Error: joint_index {joint_idx} not found")
+        print("Valid indices:", sorted(JOINT_NAMES.keys()))
+        return
+    
+    sensor_idx = SENSOR_MAP.get(joint_idx, joint_idx)
+    exp_factor = EXP_FACTORS.get(joint_idx, 1)
+    joint_name = JOINT_NAMES[joint_idx]
+    
+    # Load calibration data
+    with open(TMP_FILE) as f:
+        data = json.load(f)
+    
+    open_r = data['jointangleoriginal_r']
+    opose_r = data['jointangleopose_r']
+    fist_r = data['jointanglefist_r']
+    
+    if sensor_idx >= len(open_r):
+        print(f"Error: sensor_idx {sensor_idx} out of range")
+        return
+    
+    sensor_open = open_r[sensor_idx]
+    sensor_opose = opose_r[sensor_idx]
+    sensor_fist = fist_r[sensor_idx]
+    
+    # Generate curve data
+    sensor_vals, motor_vals, normalized_vals = generate_curve_data(sensor_open, sensor_opose, sensor_fist, exp_factor)
+    
+    # Print parameters
+    map_value(sensor_opose + 0.01, sensor_open, sensor_opose, sensor_fist, exp_factor, debug=True)
+    
+    # Verify motor at normalized=1.2
+    sensor_1_2 = sensor_open + 1.2 * (sensor_opose - sensor_open)
+    motor_1_2, _ = map_value(sensor_1_2, sensor_open, sensor_opose, sensor_fist, exp_factor)
+    print(f"motor at normalized=1.2: {motor_1_2:.1f}")
+    
+    # Create plot
+    fig, ax = plt.subplots(figsize=(10, 6))
+    ax2 = ax.twinx()
+    
+    line1, = ax.plot(normalized_vals, motor_vals, color='#4ECDC4', linewidth=2.5, label='Motor Value')
+    line2, = ax2.plot(normalized_vals, sensor_vals, color='gray', linewidth=1.5, linestyle='--', label='Sensor Value')
+    
+    ax.axvline(x=0, color='green', linestyle=':', alpha=0.7, linewidth=1.5, label='open (normalized=0)')
+    ax.axvline(x=1, color='orange', linestyle=':', alpha=0.7, linewidth=1.5, label='opose (normalized=1)')
+    
+    normalized_fist = (sensor_fist - sensor_open) / (sensor_opose - sensor_open) if abs(sensor_opose - sensor_open) > 1e-6 else 0.5
+    if normalized_fist > 1:
+        ax.axvline(x=normalized_fist, color='red', linestyle=':', alpha=0.7, linewidth=1.5, label=f'fist (normalized={normalized_fist:.2f})')
+    
+    ax.axhline(y=MOTOR_OPEN, color='green', linestyle=':', alpha=0.3)
+    ax.axhline(y=MOTOR_OPOSE, color='orange', linestyle=':', alpha=0.3)
+    ax.axhline(y=MOTOR_FIST, color='red', linestyle=':', alpha=0.3)
+    
+    ax.scatter([0, 1], [MOTOR_OPEN, MOTOR_OPOSE], color='black', s=80, zorder=5)
+    if normalized_fist > 1:
+        motor_at_fist, _ = map_value(sensor_fist, sensor_open, sensor_opose, sensor_fist, exp_factor)
+        ax.scatter([normalized_fist], [motor_at_fist], color='red', s=100, zorder=5, marker='*')
+    
+    ax.set_xlabel('Normalized Sensor Value', fontsize=11)
+    ax.set_ylabel('Motor Value', fontsize=11)
+    ax2.set_ylabel('Sensor Raw Value', fontsize=11)
+    ax.set_title(f'{joint_name} (robot_idx={joint_idx}, exp_factor={exp_factor})', fontsize=13, fontweight='bold')
+    
+    lines = [line1, line2]
+    labels = [l.get_label() for l in lines]
+    ax.legend(lines, labels, loc='upper right', fontsize=9)
+    
+    ax.grid(True, alpha=0.3)
+    ax.set_ylim(-20, 280)
+    
+    plt.tight_layout()
+    
+    output_path = Path(__file__).parent / "images" / f"mapping_curve_joint_{joint_idx}.png"
+    plt.savefig(output_path, dpi=150, bbox_inches='tight')
+    print(f"Chart saved to: {output_path}")
+    plt.close()
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/unit/test_constants.py b/src/linkerhand_retarget/tests/unit/test_constants.py
new file mode 100644
index 0000000..f6cc48c
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_constants.py
@@ -0,0 +1,99 @@
+import pytest
+from linkerhand_retarget.linkerhand.constants import (
+    RobotName,
+    RetargetingType,
+    HandType,
+    DataSource,
+    MotionSource,
+    ROBOT_NAME_MAP,
+    ROBOT_LEN_MAP,
+    OPERATOR2MANO,
+    OPERATOR2MANO_RIGHT,
+    OPERATOR2MANO_LEFT,
+    get_default_config_path,
+)
+
+
+class TestRobotName:
+    def test_enum_values(self):
+        assert RobotName.o7.value is not None
+        assert RobotName.l6.value is not None
+        assert RobotName.l20.value is not None
+
+    def test_robot_names_list(self):
+        from linkerhand_retarget.linkerhand.constants import ROBOT_NAMES
+        assert len(ROBOT_NAMES) > 0
+        assert RobotName.o7 in ROBOT_NAMES
+
+
+class TestRetargetingType:
+    def test_enum_values(self):
+        assert RetargetingType.vector is not None
+        assert RetargetingType.position is not None
+        assert RetargetingType.dexpilot is not None
+        assert RetargetingType.projection is not None
+
+
+class TestHandType:
+    def test_enum_values(self):
+        assert HandType.right is not None
+        assert HandType.left is not None
+
+
+class TestDataSource:
+    def test_enum_values(self):
+        assert DataSource.motion is not None
+        assert DataSource.video is not None
+        assert DataSource.vr is not None
+
+
+class TestMotionSource:
+    def test_enum_values(self):
+        assert MotionSource.vtrdyn is not None
+        assert MotionSource.udexreal is not None
+        assert MotionSource.linkerforce is not None
+
+
+class TestRobotNameMap:
+    def test_robot_name_map(self):
+        assert ROBOT_NAME_MAP[RobotName.o7] == "linker_hand_o7"
+        assert ROBOT_NAME_MAP[RobotName.l6] == "linker_hand_l6"
+        assert ROBOT_NAME_MAP[RobotName.l20] == "linker_hand_l20"
+        assert ROBOT_NAME_MAP[RobotName.l25] == "linker_hand_l25"
+
+    def test_robot_len_map(self):
+        assert ROBOT_LEN_MAP[RobotName.o7] == 7
+        assert ROBOT_LEN_MAP[RobotName.l6] == 6
+        assert ROBOT_LEN_MAP[RobotName.l20] == 20
+        assert ROBOT_LEN_MAP[RobotName.l25] == 25
+
+
+class TestOperatorToMano:
+    def test_operator2mano_right(self):
+        assert OPERATOR2MANO[HandType.right].shape == (3, 3)
+        assert (OPERATOR2MANO[HandType.right] == OPERATOR2MANO_RIGHT).all()
+
+    def test_operator2mano_left(self):
+        assert OPERATOR2MANO[HandType.left].shape == (3, 3)
+        assert (OPERATOR2MANO[HandType.left] == OPERATOR2MANO_LEFT).all()
+
+    def test_operator2mano_right_values(self):
+        expected = [
+            [0, 0, -1],
+            [-1, 0, 0],
+            [0, 1, 0],
+        ]
+        assert (OPERATOR2MANO_RIGHT == expected).all()
+
+
+class TestGetDefaultConfigPath:
+    def test_get_config_path_teleop(self):
+        path = get_default_config_path(RobotName.l6, RetargetingType.vector, HandType.right)
+        assert path is not None
+        assert "teleop" in str(path)
+        assert "l6" in str(path).lower()
+
+    def test_get_config_path_offline(self):
+        path = get_default_config_path(RobotName.l6, RetargetingType.position, HandType.right)
+        assert path is not None
+        assert "offline" in str(path)
diff --git a/src/linkerhand_retarget/tests/unit/test_filter.py b/src/linkerhand_retarget/tests/unit/test_filter.py
new file mode 100644
index 0000000..e7b3f27
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_filter.py
@@ -0,0 +1,224 @@
+import pytest
+import numpy as np
+from linkerhand_retarget.linkerhand.filter import (
+    LCFilter,
+    MultiChannelLCFilter,
+    AdaptiveLCFilter,
+    KalmanFilter,
+    MultiChannelKalmanFilter,
+    AdaptiveKalmanFilter,
+    SavitzkyGolayFilter,
+    MultiChannelSavitzkyGolayFilter,
+    AdaptiveSavitzkyGolayFilter,
+    apply_lc_filter,
+)
+
+
+class TestLCFilter:
+    def test_initialization(self):
+        f = LCFilter(alpha=0.5, initial_value=1.0)
+        assert f.alpha == 0.5
+        assert f.filtered_value == 1.0
+
+    def test_invalid_alpha(self):
+        with pytest.raises(ValueError):
+            LCFilter(alpha=0)
+        with pytest.raises(ValueError):
+            LCFilter(alpha=1.5)
+
+    def test_update(self):
+        f = LCFilter(alpha=0.5)
+        result = f.update(10.0)
+        assert result == 5.0  # 0.5 * 10 + 0.5 * 0
+
+    def test_update_chain(self):
+        f = LCFilter(alpha=0.5)
+        f.update(10.0)  # 5.0
+        result = f.update(20.0)  # 0.5 * 20 + 0.5 * 5 = 12.5
+        assert result == 12.5
+
+    def test_update_array(self):
+        f = LCFilter(alpha=0.5)
+        result = f.update_array([10.0, 20.0, 30.0])
+        assert len(result) == 3
+
+    def test_reset(self):
+        f = LCFilter(alpha=0.5, initial_value=5.0)
+        f.update(10.0)
+        f.reset(initial_value=0.0)
+        assert f.filtered_value == 0.0
+        assert len(f.history_raw) == 0
+
+
+class TestMultiChannelLCFilter:
+    def test_initialization(self):
+        f = MultiChannelLCFilter(num_channels=3, alpha=0.5)
+        assert f.num_channels == 3
+        assert len(f.filters) == 3
+
+    def test_invalid_channels(self):
+        with pytest.raises(ValueError):
+            MultiChannelLCFilter(num_channels=3, initial_values=[1.0, 2.0])
+
+    def test_update(self):
+        f = MultiChannelLCFilter(num_channels=3, alpha=0.5)
+        result = f.update([10.0, 20.0, 30.0])
+        assert result == [5.0, 10.0, 15.0]
+
+    def test_update_channel(self):
+        f = MultiChannelLCFilter(num_channels=3, alpha=0.5)
+        result = f.update_channel(1, 20.0)
+        assert result == 10.0
+
+    def test_invalid_channel_index(self):
+        f = MultiChannelLCFilter(num_channels=3)
+        with pytest.raises(ValueError):
+            f.update_channel(5, 10.0)
+
+
+class TestAdaptiveLCFilter:
+    def test_initialization(self):
+        f = AdaptiveLCFilter(alpha_min=0.05, alpha_max=0.3)
+        assert f.alpha_min == 0.05
+        assert f.alpha_max == 0.3
+
+    def test_adaptive_update_fast_change(self):
+        f = AdaptiveLCFilter(alpha_min=0.05, alpha_max=0.3, change_threshold=0.1)
+        f.update(0.0)  # initial
+        result = f.update(10.0)  # large change, should use alpha_max
+        assert f.alpha == 0.3
+
+    def test_adaptive_update_slow_change(self):
+        f = AdaptiveLCFilter(alpha_min=0.05, alpha_max=0.3, change_threshold=0.1)
+        f.update(0.0)  # initial
+        f.update(0.01)  # small change
+        result = f.update(0.02)  # small change
+        assert f.alpha == 0.05
+
+
+class TestKalmanFilter:
+    def test_initialization(self):
+        kf = KalmanFilter(process_variance=1e-5, measurement_variance=0.1)
+        assert kf.process_variance == 1e-5
+        assert kf.measurement_variance == 0.1
+
+    def test_update(self):
+        kf = KalmanFilter(process_variance=1e-5, measurement_variance=0.1)
+        result = kf.update(10.0)
+        assert result > 0 and result < 10.0
+
+    def test_update_batch(self):
+        kf = KalmanFilter(process_variance=1e-5, measurement_variance=0.1)
+        result = kf.update_batch([10.0, 20.0, 30.0])
+        assert len(result) == 3
+
+    def test_reset(self):
+        kf = KalmanFilter(process_variance=1e-5, measurement_variance=0.1)
+        kf.update(10.0)
+        kf.reset(initial_value=0.0)
+        assert kf.x_hat == 0.0
+
+
+class TestMultiChannelKalmanFilter:
+    def test_initialization(self):
+        mkf = MultiChannelKalmanFilter(num_channels=3)
+        assert mkf.num_channels == 3
+        assert len(mkf.filters) == 3
+
+    def test_update(self):
+        mkf = MultiChannelKalmanFilter(num_channels=3)
+        result = mkf.update([10.0, 20.0, 30.0])
+        assert len(result) == 3
+
+    def test_update_channel(self):
+        mkf = MultiChannelKalmanFilter(num_channels=3)
+        result = mkf.update_channel(1, 20.0)
+        assert result > 0
+
+    def test_invalid_channel(self):
+        mkf = MultiChannelKalmanFilter(num_channels=3)
+        with pytest.raises(ValueError):
+            mkf.update_channel(5, 10.0)
+
+
+class TestAdaptiveKalmanFilter:
+    def test_initialization(self):
+        akf = AdaptiveKalmanFilter(
+            min_process_variance=1e-6,
+            max_process_variance=1e-3,
+        )
+        assert akf.min_process_variance == 1e-6
+        assert akf.max_process_variance == 1e-3
+
+
+class TestSavitzkyGolayFilter:
+    def test_initialization(self):
+        sgf = SavitzkyGolayFilter(window_length=7, polyorder=2)
+        assert sgf.window_length == 7
+        assert sgf.polyorder == 2
+
+    def test_invalid_window_length(self):
+        with pytest.raises(ValueError):
+            SavitzkyGolayFilter(window_length=6)  # even number
+
+    def test_window_less_than_polyorder(self):
+        with pytest.raises(ValueError):
+            SavitzkyGolayFilter(window_length=3, polyorder=4)
+
+    def test_update(self):
+        sgf = SavitzkyGolayFilter(window_length=7, polyorder=2)
+        result = sgf.update(10.0)
+        assert isinstance(result, float)
+
+    def test_buffer_not_full(self):
+        sgf = SavitzkyGolayFilter(window_length=7, polyorder=2)
+        for i in range(3):
+            result = sgf.update(float(i))
+            assert result == float(i)  # returns original when buffer not full
+
+    def test_reset(self):
+        sgf = SavitzkyGolayFilter(window_length=7, polyorder=2)
+        sgf.update(10.0)
+        sgf.reset()
+        assert len(sgf.buffer) == 0
+
+
+class TestMultiChannelSavitzkyGolayFilter:
+    def test_initialization(self):
+        msgf = MultiChannelSavitzkyGolayFilter(num_channels=3)
+        assert msgf.num_channels == 3
+
+    def test_update(self):
+        msgf = MultiChannelSavitzkyGolayFilter(num_channels=3)
+        result = msgf.update([10.0, 20.0, 30.0])
+        assert len(result) == 3
+
+
+class TestAdaptiveSavitzkyGolayFilter:
+    def test_initialization(self):
+        asgf = AdaptiveSavitzkyGolayFilter(min_window=5, max_window=13)
+        assert asgf.min_window == 5
+        assert asgf.max_window == 13
+
+    def test_update(self):
+        asgf = AdaptiveSavitzkyGolayFilter(min_window=5, max_window=13)
+        result = asgf.update(10.0)
+        assert isinstance(result, float)
+
+
+class TestApplyLCFilter:
+    def test_empty_list(self):
+        result = apply_lc_filter([])
+        assert result == []
+
+    def test_single_value(self):
+        result = apply_lc_filter([5.0], alpha=0.5)
+        assert result == [5.0]
+
+    def test_multiple_values(self):
+        result = apply_lc_filter([10.0, 20.0, 30.0], alpha=0.5)
+        assert len(result) == 3
+
+    def test_invalid_alpha(self):
+        with pytest.raises(ValueError):
+            apply_lc_filter([1.0, 2.0], alpha=0)
diff --git a/src/linkerhand_retarget/tests/unit/test_handcore.py b/src/linkerhand_retarget/tests/unit/test_handcore.py
new file mode 100644
index 0000000..4fc479a
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_handcore.py
@@ -0,0 +1,157 @@
+import pytest
+import numpy as np
+from unittest.mock import Mock, MagicMock
+from linkerhand_retarget.linkerhand.handcore import HandCore, KalmanFilter, MultiTargetKalman
+
+
+class MockJoint:
+    def __init__(self, joint_type="revolute", lower=-1.0, upper=1.0):
+        self.type = joint_type
+        self.limit = MagicMock()
+        self.limit.lower = lower
+        self.limit.upper = upper
+
+
+class MockRobot:
+    def __init__(self, joints):
+        self.joint_map = joints
+
+
+class TestHandCoreGetJointLimits:
+    def test_revolute_joints(self):
+        joints = {
+            'joint1': MockJoint("revolute", -1.57, 1.57),
+            'joint2': MockJoint("revolute", -0.5, 0.5),
+        }
+        robot = MockRobot(joints)
+        lower, upper, ranges = HandCore.get_joint_limits(robot)
+        
+        assert len(lower) == 2
+
+    def test_prismatic_joint(self):
+        joints = {
+            'prismatic_joint': MockJoint("prismatic", -0.5, 0.5),
+        }
+        robot = MockRobot(joints)
+        lower, upper, ranges = HandCore.get_joint_limits(robot)
+        
+        assert lower[0] == -0.5
+        assert upper[0] == 0.5
+        assert ranges[0] == 1.0
+
+    def test_fixed_joint_skipped(self):
+        joints = {
+            'fixed_joint': MockJoint("fixed", -1.0, 1.0),
+            'revolute_joint': MockJoint("revolute", -1.0, 1.0),
+        }
+        robot = MockRobot(joints)
+        lower, upper, ranges = HandCore.get_joint_limits(robot)
+        
+        assert len(lower) == 1
+
+    def test_joint_without_limit(self):
+        joints = {
+            'revolute_no_limit': Mock(),
+        }
+        joints['revolute_no_limit'].type = "revolute"
+        joints['revolute_no_limit'].limit = None
+        
+        robot = MockRobot(joints)
+        lower, upper, ranges = HandCore.get_joint_limits(robot)
+        
+        assert lower[0] == -3.1415926535
+        assert upper[0] == 3.1415926535
+
+
+class TestHandCoreProjectionProcess:
+    def test_projection_process_returns_30_values(self):
+        hand_position = np.random.rand(25, 3)
+        result = HandCore.projection_process(hand_position)
+        
+        assert len(result) == 30
+
+    def test_projection_process_returns_list(self):
+        hand_position = np.ones((25, 3)) * 0.1
+        result = HandCore.projection_process(hand_position)
+        
+        assert len(result) == 30
+        assert isinstance(result[0], float)
+
+
+class TestKalmanFilter:
+    def test_initialization(self):
+        kf = KalmanFilter(process_variance=0.01, measurement_variance=0.1, estimated_error=1.0, initial_value=0.0)
+        assert kf.process_variance == 0.01
+        assert kf.measurement_variance == 0.1
+        assert kf.estimated_error == 1.0
+        assert kf.current_estimate == 0.0
+
+    def test_update_first_measurement(self):
+        kf = KalmanFilter(process_variance=0.01, measurement_variance=0.1, estimated_error=1.0, initial_value=0.0)
+        result = kf.update(10.0)
+        
+        assert 0.0 < result < 10.0
+
+    def test_update_convergence(self):
+        kf = KalmanFilter(process_variance=0.001, measurement_variance=0.01, estimated_error=1.0, initial_value=0.0)
+        
+        results = []
+        for _ in range(100):
+            results.append(kf.update(10.0))
+        
+        assert abs(results[-1] - 10.0) < 0.5
+
+    def test_update_with_known_measurement(self):
+        kf = KalmanFilter(process_variance=0.01, measurement_variance=0.1, estimated_error=1.0, initial_value=5.0)
+        result = kf.update(5.0)
+        
+        assert result == 5.0
+
+    def test_estimated_error_decreases(self):
+        kf = KalmanFilter(process_variance=0.01, measurement_variance=0.1, estimated_error=1.0, initial_value=0.0)
+        
+        initial_error = kf.estimated_error
+        kf.update(10.0)
+        
+        assert kf.estimated_error < initial_error
+
+
+class TestMultiTargetKalman:
+    def test_initialization(self):
+        mtkf = MultiTargetKalman(num_targets=5)
+        
+        assert mtkf.num_targets == 5
+        assert len(mtkf.kalman_filters) == 5
+        assert len(mtkf.smoothed_data) == 5
+
+    def test_initialization_custom_params(self):
+        mtkf = MultiTargetKalman(
+            num_targets=3,
+            process_variance=0.001,
+            measurement_variance=0.01,
+            estimated_error=0.5,
+            initial_value=100.0
+        )
+        
+        assert mtkf.num_targets == 3
+        assert len(mtkf.kalman_filters) == 3
+
+    def test_update_single_target(self):
+        mtkf = MultiTargetKalman(num_targets=5)
+        
+        result = mtkf.update(10.0, index=2)
+        
+        assert isinstance(result, float)
+
+    def test_update_all_targets(self):
+        mtkf = MultiTargetKalman(num_targets=3)
+        
+        for i in range(3):
+            result = mtkf.update(float(i * 10), index=i)
+            assert isinstance(result, float)
+
+    def test_smoothed_data_initialized(self):
+        mtkf = MultiTargetKalman(num_targets=2)
+        
+        assert len(mtkf.smoothed_data) == 2
+        assert isinstance(mtkf.smoothed_data, list)
diff --git a/src/linkerhand_retarget/tests/unit/test_handcoreex.py b/src/linkerhand_retarget/tests/unit/test_handcoreex.py
new file mode 100644
index 0000000..d68af96
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_handcoreex.py
@@ -0,0 +1,158 @@
+import pytest
+import numpy as np
+from linkerhand_retarget.linkerhand.handcoreex import MultiStateLinearMapper
+
+
+FINGER_CONFIGS_TEST = {
+    'thumb': {
+        'name': 'thumb',
+        'joints': [0, 1, 2],
+        'weights': [0.2, 0.3, 0.5],
+        'robot_idx': 0,
+        'reverse_motion': False,
+    },
+    'index': {
+        'name': 'index',
+        'joints': [3, 4, 5],
+        'weights': [0.3, 0.3, 0.4],
+        'robot_idx': 1,
+        'reverse_motion': False,
+    },
+}
+
+MAPPING_ORDER_TEST = ['thumb', 'index']
+
+
+class TestMultiStateLinearMapper:
+    def test_initialization(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        assert mapper.finger_configs == FINGER_CONFIGS_TEST
+        assert mapper.mapping_order == MAPPING_ORDER_TEST
+        assert len(mapper.glove_states) == 0
+        assert len(mapper.robot_states) == 0
+
+    def test_add_state(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        glove_angles = [0.0] * 21
+        robot_angles = [0.0] * 6
+        
+        mapper.add_state('original', glove_angles, robot_angles)
+        
+        assert 'original' in mapper.glove_states
+        assert 'original' in mapper.robot_states
+        assert np.array_equal(mapper.glove_states['original'], glove_angles)
+
+    def test_add_state_with_list(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        glove_angles = [1.0] * 21
+        robot_angles = [0.5] * 6
+        
+        mapper.add_state('fist', glove_angles, robot_angles)
+        
+        assert 'fist' in mapper.glove_states
+
+    def test_remove_state(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        glove_angles = [0.0] * 21
+        robot_angles = [0.0] * 6
+        
+        mapper.add_state('original', glove_angles, robot_angles)
+        mapper.remove_state('original')
+        
+        assert 'original' not in mapper.glove_states
+
+    def test_set_state_order(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        mapper.add_state('original', [0.0] * 21, [0.0] * 6)
+        mapper.add_state('fist', [1.0] * 21, [1.0] * 6)
+        
+        mapper.set_state_order(['original', 'fist'])
+        
+        assert mapper.state_order == ['original', 'fist']
+
+    def test_set_state_order_invalid_state(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        mapper.add_state('original', [0.0] * 21, [0.0] * 6)
+        
+        with pytest.raises(ValueError):
+            mapper.set_state_order(['original', 'nonexistent'])
+
+    def test_map_glove_to_robot_requires_two_states(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        
+        with pytest.raises(ValueError, match="请至少设置两个状态"):
+            mapper.map_glove_to_robot([0.0] * 21)
+
+    def test_map_glove_to_robot_with_original(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        mapper.add_state('original', [0.0] * 21, [0.0] * 6)
+        mapper.add_state('fist', [1.0] * 21, [1.0] * 6)
+        mapper.set_state_order(['original', 'fist'])
+        
+        result = mapper.map_glove_to_robot([0.5] * 21)
+        
+        assert isinstance(result, np.ndarray)
+
+    def test_map_glove_to_robot_returns_array(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        mapper.add_state('original', [0.0] * 21, [0.0] * 6)
+        mapper.add_state('fist', [1.0] * 21, [1.0] * 6)
+        mapper.set_state_order(['original', 'fist'])
+        
+        result = mapper.map_glove_to_robot([0.5] * 21)
+        
+        assert isinstance(result, np.ndarray)
+        assert len(result) == 6
+
+    def test_map_glove_to_robot_with_numpy_array(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        mapper.add_state('original', [0.0] * 21, [0.0] * 6)
+        mapper.add_state('fist', [1.0] * 21, [1.0] * 6)
+        mapper.set_state_order(['original', 'fist'])
+        
+        result = mapper.map_glove_to_robot(np.array([0.5] * 21))
+        
+        assert isinstance(result, np.ndarray)
+
+    def test_map_glove_to_robot_full_extension(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        mapper.add_state('original', [0.0] * 21, [0.0] * 6)
+        mapper.add_state('fist', [1.0] * 21, [1.0] * 6)
+        mapper.set_state_order(['original', 'fist'])
+        
+        result = mapper.map_glove_to_robot([0.0] * 21)
+        
+        assert isinstance(result, np.ndarray)
+
+    def test_map_glove_to_robot_full_flexion(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        mapper.add_state('original', [0.0] * 21, [0.0] * 6)
+        mapper.add_state('fist', [1.0] * 21, [1.0] * 6)
+        mapper.set_state_order(['original', 'fist'])
+        
+        result = mapper.map_glove_to_robot([1.0] * 21)
+        
+        assert isinstance(result, np.ndarray)
+
+
+class TestMultiStateLinearMapperEdgeCases:
+    def test_empty_glove_states(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        assert len(mapper.glove_states) == 0
+
+    def test_debug_value_initialized(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        assert len(mapper.debug_value) == 20
+
+    def test_history_initialized(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        assert len(mapper.raw_history) == 0
+        assert len(mapper.filtered_history) == 0
+
+    def test_multiple_states(self):
+        mapper = MultiStateLinearMapper(FINGER_CONFIGS_TEST, MAPPING_ORDER_TEST)
+        mapper.add_state('original', [0.0] * 21, [0.0] * 6)
+        mapper.add_state('opose', [0.5] * 21, [0.5] * 6)
+        mapper.add_state('fist', [1.0] * 21, [1.0] * 6)
+        
+        assert len(mapper.glove_states) == 3
diff --git a/src/linkerhand_retarget/tests/unit/test_linkerforce.py b/src/linkerhand_retarget/tests/unit/test_linkerforce.py
new file mode 100644
index 0000000..00382bb
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_linkerforce.py
@@ -0,0 +1,119 @@
+import pytest
+import array
+from linkerhand_retarget.linkerhand.linkerforce import CircularBuffer, FrameParser, FrameParseState, BUFFER_SIZE, FRAME_HEADER
+
+
+class TestCircularBuffer:
+    def test_initialization(self):
+        buf = CircularBuffer()
+        assert buf.data_len == 0
+        assert buf.read_pos == 0
+        assert buf.write_pos == 0
+
+    def test_write_single_byte(self):
+        buf = CircularBuffer()
+        buf.write([0x5D])
+        assert buf.data_len == 1
+        assert buf.read_pos == 0
+        assert buf.write_pos == 1
+
+    def test_read_byte(self):
+        buf = CircularBuffer()
+        buf.write([0x5D, 0x01])
+        byte = buf.read_byte()
+        assert byte == 0x5D
+        assert buf.data_len == 1
+
+    def test_read_empty_buffer(self):
+        buf = CircularBuffer()
+        byte = buf.read_byte()
+        assert byte is None
+
+    def test_write_multiple_bytes(self):
+        buf = CircularBuffer()
+        data = [0x01, 0x02, 0x03, 0x04, 0x05]
+        buf.write(data)
+        assert buf.data_len == 5
+
+    def test_read_write_sequence(self):
+        buf = CircularBuffer()
+        buf.write([10, 20, 30])
+        assert buf.read_byte() == 10
+        assert buf.read_byte() == 20
+        assert buf.read_byte() == 30
+        assert buf.read_byte() is None
+
+    def test_buffer_wrap_around(self):
+        buf = CircularBuffer()
+        for i in range(BUFFER_SIZE + 10):
+            buf.write([i % 256])
+        assert buf.data_len == BUFFER_SIZE
+
+
+class TestFrameParser:
+    def test_initialization(self):
+        parser = FrameParser()
+        assert parser.state == FrameParseState.HEADER
+        assert parser.expected_len == 0
+        assert parser.current_pos == 0
+
+    def test_reset(self):
+        parser = FrameParser()
+        parser.state = FrameParseState.DATA
+        parser.current_pos = 5
+        parser.reset()
+        assert parser.state == FrameParseState.HEADER
+        assert parser.current_pos == 0
+
+    def test_process_byte_finds_header(self):
+        parser = FrameParser()
+        result = parser.process_byte(FRAME_HEADER)
+        assert parser.state == FrameParseState.CMD
+
+    def test_process_byte_accumulates_data(self):
+        parser = FrameParser()
+        parser.process_byte(FRAME_HEADER)
+        parser.process_byte(0x01)
+        parser.process_byte(0x03)
+        for i in range(3):
+            parser.process_byte(i)
+        parser.process_byte(0)
+
+    def test_state_transitions(self):
+        parser = FrameParser()
+        assert parser.state == FrameParseState.HEADER
+        
+        parser.process_byte(FRAME_HEADER)
+        assert parser.state == FrameParseState.CMD
+        
+        parser.process_byte(0x01)
+        assert parser.state == FrameParseState.LENGTH
+        
+        parser.process_byte(0x02)
+        assert parser.state == FrameParseState.DATA
+
+    def test_process_multiple_frames(self):
+        parser = FrameParser()
+        frame1 = [FRAME_HEADER, 0x01, 0x02, 0xAA, 0xBB]
+        for byte in frame1:
+            parser.process_byte(byte)
+        
+        parser.reset()
+        frame2 = [FRAME_HEADER, 0x02, 0x01, 0xCC]
+        for byte in frame2:
+            parser.process_byte(byte)
+
+
+class TestConstants:
+    def test_buffer_size(self):
+        assert BUFFER_SIZE == 1024
+
+    def test_frame_header(self):
+        assert FRAME_HEADER == 0x5D
+
+    def test_frame_parse_states(self):
+        assert FrameParseState.HEADER.value == 0
+        assert FrameParseState.CMD.value == 1
+        assert FrameParseState.LENGTH.value == 2
+        assert FrameParseState.DATA.value == 3
+        assert FrameParseState.CHECKSUM.value == 4
diff --git a/src/linkerhand_retarget/tests/unit/test_linkerforce_improved.py b/src/linkerhand_retarget/tests/unit/test_linkerforce_improved.py
new file mode 100644
index 0000000..1ffcc94
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_linkerforce_improved.py
@@ -0,0 +1,387 @@
+"""
+LinkerForce 改进版单元测试
+"""
+import unittest
+import threading
+import time
+import queue
+from unittest.mock import Mock, MagicMock, patch
+import serial
+
+from linkerhand.linkerforce_improved import (
+    ForceSerialReader,
+    SerialConfig,
+    DeviceInfo,
+    FrameParser,
+    FrameParseState
+)
+from linkerhand.constants import HandType
+
+
+class TestSerialConfig(unittest.TestCase):
+    """测试配置类"""
+    
+    def test_default_config(self):
+        """测试默认配置"""
+        config = SerialConfig()
+        self.assertEqual(config.baudrates, [2000000, 1000000, 921600, 460800])
+        self.assertEqual(config.timeout, 0.001)
+        self.assertTrue(config.auto_reconnect)
+        self.assertEqual(config.max_reconnect_attempts, 5)
+    
+    def test_custom_config(self):
+        """测试自定义配置"""
+        config = SerialConfig(
+            baudrates=[921600],
+            auto_reconnect=False,
+            max_reconnect_attempts=10
+        )
+        self.assertEqual(config.baudrates, [921600])
+        self.assertFalse(config.auto_reconnect)
+        self.assertEqual(config.max_reconnect_attempts, 10)
+
+
+class TestDeviceInfo(unittest.TestCase):
+    """测试设备信息类"""
+    
+    def test_device_info_creation(self):
+        """测试设备信息创建"""
+        info = DeviceInfo(
+            port="/dev/ttyUSB0",
+            baudrate=2000000,
+            handtype="Right",
+            version="1.0.0"
+        )
+        self.assertEqual(info.port, "/dev/ttyUSB0")
+        self.assertEqual(info.baudrate, 2000000)
+        self.assertEqual(info.handtype, "Right")
+        self.assertEqual(info.version, "1.0.0")
+    
+    def test_device_info_optional_fields(self):
+        """测试可选字段"""
+        info = DeviceInfo(port="/dev/ttyUSB0", baudrate=2000000)
+        self.assertIsNone(info.handtype)
+        self.assertIsNone(info.version)
+
+
+class TestFrameParser(unittest.TestCase):
+    """测试帧解析器"""
+    
+    def setUp(self):
+        self.parser = FrameParser()
+    
+    def test_initial_state(self):
+        """测试初始状态"""
+        self.assertEqual(self.parser.state, FrameParseState.HEADER)
+        self.assertEqual(self.parser.current_pos, 0)
+        self.assertEqual(self.parser.checksum, 0)
+    
+    def test_reset(self):
+        """测试重置"""
+        self.parser.state = FrameParseState.DATA
+        self.parser.current_pos = 10
+        self.parser.checksum = 100
+        
+        self.parser.reset()
+        
+        self.assertEqual(self.parser.state, FrameParseState.HEADER)
+        self.assertEqual(self.parser.current_pos, 0)
+        self.assertEqual(self.parser.checksum, 0)
+    
+    def test_parse_valid_frame(self):
+        """测试解析有效帧"""
+        # 构造一个有效帧: 0x5D, 0x01, 0x00, checksum
+        frame_data = bytes([0x5D, 0x01, 0x00, 0x5E])  # checksum = 0x5D + 0x01 + 0x00 = 0x5E
+        
+        result = False
+        for byte in frame_data:
+            if self.parser.process_byte(byte):
+                result = True
+        
+        self.assertTrue(result)
+        self.assertEqual(self.parser.frame_buf[0], 0x5D)
+        self.assertEqual(self.parser.frame_buf[1], 0x01)
+        self.assertEqual(self.parser.frame_buf[2], 0x00)
+
+
+class TestForceSerialReader(unittest.TestCase):
+    """测试主类"""
+    
+    def setUp(self):
+        self.config = SerialConfig(
+            baudrates=[2000000],
+            auto_reconnect=False
+        )
+        self.reader = ForceSerialReader(
+            hand_type=HandType.right,
+            config=self.config,
+            debug=False
+        )
+    
+    def tearDown(self):
+        if self.reader.is_connected:
+            self.reader.stop()
+    
+    def test_initial_state(self):
+        """测试初始状态"""
+        self.assertEqual(self.reader.poslist, [0.0] * 21)
+        self.assertEqual(self.reader.forcelist, [0.0] * 5)
+        self.assertIsNone(self.reader.handtype)
+        self.assertIsNone(self.reader.version)
+        self.assertFalse(self.reader.is_connected)
+    
+    def test_thread_safe_access(self):
+        """测试线程安全访问"""
+        results = []
+        errors = []
+        
+        def write_data():
+            for i in range(100):
+                with self.reader._lock:
+                    self.reader._poslist = [float(i)] * 21
+                time.sleep(0.001)
+        
+        def read_data():
+            for _ in range(100):
+                try:
+                    data = self.reader.poslist
+                    results.append(len(data))
+                except Exception as e:
+                    errors.append(e)
+                time.sleep(0.001)
+        
+        writer = threading.Thread(target=write_data)
+        readers = [threading.Thread(target=read_data) for _ in range(5)]
+        
+        writer.start()
+        for r in readers:
+            r.start()
+        
+        writer.join()
+        for r in readers:
+            r.join()
+        
+        self.assertEqual(len(errors), 0)
+        self.assertEqual(len(results), 500)
+        for result in results:
+            self.assertEqual(result, 21)
+    
+    def test_callback_registration(self):
+        """测试回调注册"""
+        disconnect_called = []
+        reconnect_called = []
+        
+        self.reader.set_disconnect_callback(lambda: disconnect_called.append(True))
+        self.reader.set_reconnect_callback(lambda: reconnect_called.append(True))
+        
+        self.assertIsNotNone(self.reader._on_disconnect)
+        self.assertIsNotNone(self.reader._on_reconnect)
+    
+    def test_context_manager(self):
+        """测试上下文管理器"""
+        with patch.object(self.reader, 'start') as mock_start, \
+             patch.object(self.reader, 'stop') as mock_stop:
+            
+            with self.reader:
+                mock_start.assert_called_once()
+            
+            mock_stop.assert_called_once()
+    
+    def test_pack_data(self):
+        """测试数据打包"""
+        pack_01 = self.reader._pack_01_data()
+        self.assertEqual(pack_01[0], 0x5D)  # header
+        self.assertEqual(pack_01[1], 0x01)  # cmd
+        self.assertEqual(pack_01[2], 0x00)  # length
+        
+        pack_03 = self.reader._pack_03_data()
+        self.assertEqual(pack_03[0], 0x5D)
+        self.assertEqual(pack_03[1], 0x03)
+        
+        float_data = [1.0, 2.0, 3.0]
+        pack_A7 = self.reader._pack_A7_data(float_data)
+        self.assertEqual(pack_A7[0], 0x5D)
+        self.assertEqual(pack_A7[1], 0xA7)
+    
+    def test_handle_version_frame(self):
+        """测试版本帧处理"""
+        # 模拟版本帧数据: value=10001, status_code=1
+        import struct
+        value = 10001  # version 1.0.1
+        status_code = 1  # right hand
+        frame_data = struct.pack('<I', value) + bytes([status_code])
+        
+        self.reader._handle_version_frame(frame_data)
+        
+        self.assertEqual(self.reader.version, "1.0.1")
+        self.assertEqual(self.reader.handtype, "Right")
+    
+    def test_handle_position_frame(self):
+        """测试位置帧处理"""
+        import struct
+        import numpy as np
+        
+        # 3个角度值 (度数)
+        angles_deg = [30.0, 45.0, 60.0]
+        frame_data = b''.join(struct.pack('<f', angle) for angle in angles_deg)
+        
+        self.reader._handle_position_frame(frame_data)
+        
+        poslist = self.reader.poslist
+        self.assertEqual(len(poslist), 3)
+        # 检查转换为弧度
+        for i, angle in enumerate(angles_deg):
+            expected = np.deg2rad(angle)
+            self.assertAlmostEqual(poslist[i], expected, places=5)
+    
+    def test_handle_force_frame(self):
+        """测试力数据帧处理"""
+        import struct
+        
+        # 3个力值
+        forces = [100, 200, 300]
+        frame_data = b''.join(struct.pack('>h', force) for force in forces)
+        
+        self.reader._handle_force_frame(frame_data)
+        
+        realforcelist = self.reader.realforcelist
+        self.assertEqual(len(realforcelist), 3)
+        self.assertEqual(realforcelist, forces)
+    
+    def test_disconnect_handler(self):
+        """测试断开连接处理"""
+        disconnect_called = []
+        self.reader.set_disconnect_callback(lambda: disconnect_called.append(True))
+        
+        self.reader._connected = True
+        self.reader._handle_disconnect()
+        
+        self.assertFalse(self.reader._connected)
+        self.assertEqual(len(disconnect_called), 1)
+    
+    def test_reconnect_disabled(self):
+        """测试重连禁用"""
+        config = SerialConfig(auto_reconnect=False)
+        reader = ForceSerialReader(HandType.right, config=config)
+        
+        reader._device_info = DeviceInfo(port="/dev/ttyUSB0", baudrate=2000000)
+        
+        # 不应该重连
+        reader._attempt_reconnect()
+        
+        self.assertFalse(reader._connected)
+
+
+class TestForceSerialReaderIntegration(unittest.TestCase):
+    """集成测试"""
+    
+    def setUp(self):
+        self.config = SerialConfig(
+            baudrates=[2000000],
+            auto_reconnect=False
+        )
+    
+    @patch('serial.Serial')
+    def test_scan_and_connect(self, mock_serial):
+        """测试扫描和连接流程"""
+        # 模拟串口设备
+        mock_port = Mock()
+        mock_port.device = "/dev/ttyUSB0"
+        mock_port.description = "USB Serial"
+        mock_port.hwid = "USB VID:PID"
+        
+        with patch('serial.tools.list_ports.comports', return_value=[mock_port]):
+            reader = ForceSerialReader(
+                hand_type=HandType.right,
+                config=self.config,
+                debug=True
+            )
+            
+            # 检查是否识别为USB设备
+            is_usb = reader._is_usb_device("/dev/ttyUSB0")
+            self.assertTrue(is_usb)
+    
+    def test_concurrent_read_write(self):
+        """测试并发读写"""
+        reader = ForceSerialReader(HandType.right, config=self.config)
+        
+        read_count = [0]
+        write_count = [0]
+        
+        def writer():
+            for i in range(100):
+                with reader._lock:
+                    reader._poslist = [float(i)] * 21
+                write_count[0] += 1
+                time.sleep(0.0001)
+        
+        def reader_thread():
+            for _ in range(100):
+                data = reader.poslist
+                self.assertEqual(len(data), 21)
+                read_count[0] += 1
+                time.sleep(0.0001)
+        
+        threads = [
+            threading.Thread(target=writer),
+            threading.Thread(target=reader_thread),
+            threading.Thread(target=reader_thread)
+        ]
+        
+        for t in threads:
+            t.start()
+        for t in threads:
+            t.join()
+        
+        self.assertEqual(write_count[0], 100)
+        self.assertEqual(read_count[0], 200)
+
+
+class TestForceSerialReaderMockSerial(unittest.TestCase):
+    """模拟串口测试"""
+    
+    def setUp(self):
+        self.config = SerialConfig(
+            baudrates=[2000000],
+            auto_reconnect=False
+        )
+    
+    @patch('serial.Serial')
+    def test_open_serial_success(self, mock_serial_class):
+        """测试成功打开串口"""
+        mock_serial_instance = Mock()
+        mock_serial_instance.is_open = True
+        mock_serial_class.return_value = mock_serial_instance
+        
+        reader = ForceSerialReader(HandType.right, config=self.config)
+        result = reader.open_serial("/dev/ttyUSB0", 2000000)
+        
+        self.assertTrue(result)
+        mock_serial_class.assert_called_once()
+    
+    @patch('serial.Serial')
+    def test_open_serial_failure(self, mock_serial_class):
+        """测试打开串口失败"""
+        mock_serial_class.side_effect = serial.SerialException("Permission denied")
+        
+        reader = ForceSerialReader(HandType.right, config=self.config)
+        result = reader.open_serial("/dev/ttyUSB0", 2000000)
+        
+        self.assertFalse(result)
+    
+    @patch('serial.Serial')
+    def test_close_serial(self, mock_serial_class):
+        """测试关闭串口"""
+        mock_serial_instance = Mock()
+        mock_serial_instance.is_open = True
+        mock_serial_class.return_value = mock_serial_instance
+        
+        reader = ForceSerialReader(HandType.right, config=self.config)
+        reader.open_serial("/dev/ttyUSB0", 2000000)
+        reader.close_serial()
+        
+        mock_serial_instance.close.assert_called_once()
+
+
+if __name__ == '__main__':
+    unittest.main(verbosity=2)
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/unit/test_linkerforce_improved_standalone.py b/src/linkerhand_retarget/tests/unit/test_linkerforce_improved_standalone.py
new file mode 100644
index 0000000..d6ff3ab
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_linkerforce_improved_standalone.py
@@ -0,0 +1,361 @@
+#!/usr/bin/env python3
+"""
+LinkerForce 改进版验证测试
+独立运行，不依赖pytest
+"""
+import sys
+import os
+import threading
+import time
+import struct
+
+# 添加路径 - 从当前文件位置向上查找
+current_dir = os.path.dirname(os.path.abspath(__file__))
+linkerhand_retarget_dir = os.path.dirname(os.path.dirname(current_dir))
+sys.path.insert(0, linkerhand_retarget_dir)
+
+# 直接从文件导入
+import importlib.util
+spec = importlib.util.spec_from_file_location(
+    "linkerforce_improved",
+    os.path.join(linkerhand_retarget_dir, "linkerhand_retarget/linkerhand/linkerforce_improved.py")
+)
+linkerforce_improved = importlib.util.module_from_spec(spec)
+spec.loader.exec_module(linkerforce_improved)
+
+ForceSerialReader = linkerforce_improved.ForceSerialReader
+SerialConfig = linkerforce_improved.SerialConfig
+DeviceInfo = linkerforce_improved.DeviceInfo
+FrameParser = linkerforce_improved.FrameParser
+FrameParseState = linkerforce_improved.FrameParseState
+
+# 导入常量
+spec2 = importlib.util.spec_from_file_location(
+    "constants",
+    os.path.join(linkerhand_retarget_dir, "linkerhand_retarget/linkerhand/constants.py")
+)
+constants = importlib.util.module_from_spec(spec2)
+spec2.loader.exec_module(constants)
+
+HandType = constants.HandType
+import numpy as np
+
+
+class TestRunner:
+    def __init__(self):
+        self.tests_passed = 0
+        self.tests_failed = 0
+        self.errors = []
+    
+    def test(self, name, func):
+        try:
+            func()
+            print(f"✓ {name}")
+            self.tests_passed += 1
+        except Exception as e:
+            print(f"✗ {name}: {e}")
+            self.tests_failed += 1
+            self.errors.append((name, str(e)))
+    
+    def report(self):
+        print(f"\n{'='*60}")
+        print(f"测试结果: {self.tests_passed} 通过, {self.tests_failed} 失败")
+        if self.errors:
+            print("\n失败详情:")
+            for name, error in self.errors:
+                print(f"  - {name}: {error}")
+        print(f"{'='*60}\n")
+
+
+def test_serial_config():
+    runner = TestRunner()
+    
+    def test_default():
+        config = SerialConfig()
+        assert config.baudrates == [2000000, 1000000, 921600, 460800]
+        assert config.timeout == 0.001
+        assert config.auto_reconnect == True
+    
+    def test_custom():
+        config = SerialConfig(
+            baudrates=[921600],
+            auto_reconnect=False,
+            max_reconnect_attempts=10
+        )
+        assert config.baudrates == [921600]
+        assert config.auto_reconnect == False
+        assert config.max_reconnect_attempts == 10
+    
+    runner.test("默认配置", test_default)
+    runner.test("自定义配置", test_custom)
+    return runner
+
+
+def test_device_info():
+    runner = TestRunner()
+    
+    def test_creation():
+        info = DeviceInfo(
+            port="/dev/ttyUSB0",
+            baudrate=2000000,
+            handtype="Right",
+            version="1.0.0"
+        )
+        assert info.port == "/dev/ttyUSB0"
+        assert info.baudrate == 2000000
+        assert info.handtype == "Right"
+        assert info.version == "1.0.0"
+    
+    def test_optional():
+        info = DeviceInfo(port="/dev/ttyUSB0", baudrate=2000000)
+        assert info.handtype is None
+        assert info.version is None
+    
+    runner.test("设备信息创建", test_creation)
+    runner.test("设备信息可选字段", test_optional)
+    return runner
+
+
+def test_frame_parser():
+    runner = TestRunner()
+    
+    def test_initial():
+        parser = FrameParser()
+        assert parser.state == FrameParseState.HEADER
+        assert parser.current_pos == 0
+        assert parser.checksum == 0
+    
+    def test_reset():
+        parser = FrameParser()
+        parser.state = FrameParseState.DATA
+        parser.current_pos = 10
+        parser.checksum = 100
+        parser.reset()
+        assert parser.state == FrameParseState.HEADER
+        assert parser.current_pos == 0
+        assert parser.checksum == 0
+    
+    def test_parse_valid():
+        parser = FrameParser()
+        # 构造帧: 0x5D, 0x01, 0x00, checksum
+        frame_data = bytes([0x5D, 0x01, 0x00, 0x5E])
+        result = False
+        for byte in frame_data:
+            if parser.process_byte(byte):
+                result = True
+        assert result == True
+        assert parser.frame_buf[0] == 0x5D
+        assert parser.frame_buf[1] == 0x01
+    
+    runner.test("帧解析器初始状态", test_initial)
+    runner.test("帧解析器重置", test_reset)
+    runner.test("帧解析器解析有效帧", test_parse_valid)
+    return runner
+
+
+def test_force_reader():
+    runner = TestRunner()
+    
+    def test_initial():
+        config = SerialConfig(auto_reconnect=False)
+        reader = ForceSerialReader(hand_type=HandType.right, config=config)
+        assert reader.poslist == [0.0] * 21
+        assert reader.forcelist == [0.0] * 5
+        assert reader.handtype is None
+        assert reader.version is None
+        assert reader.is_connected == False
+    
+    def test_thread_safe():
+        config = SerialConfig(auto_reconnect=False)
+        reader = ForceSerialReader(hand_type=HandType.right, config=config)
+        
+        errors = []
+        
+        def write_data():
+            for i in range(100):
+                with reader._lock:
+                    reader._poslist = [float(i)] * 21
+                time.sleep(0.001)
+        
+        def read_data():
+            for _ in range(100):
+                try:
+                    data = reader.poslist
+                    assert len(data) == 21
+                except Exception as e:
+                    errors.append(e)
+                time.sleep(0.001)
+        
+        writer = threading.Thread(target=write_data)
+        readers = [threading.Thread(target=read_data) for _ in range(3)]
+        
+        writer.start()
+        for r in readers:
+            r.start()
+        
+        writer.join()
+        for r in readers:
+            r.join()
+        
+        assert len(errors) == 0
+    
+    def test_version_frame():
+        config = SerialConfig(auto_reconnect=False)
+        reader = ForceSerialReader(hand_type=HandType.right, config=config)
+        
+        # 模拟版本帧
+        value = 10001
+        status_code = 1
+        frame_data = struct.pack('<I', value) + bytes([status_code])
+        
+        reader._handle_version_frame(frame_data)
+        
+        assert reader.version == "1.0.1"
+        assert reader.handtype == "Right"
+    
+    def test_position_frame():
+        config = SerialConfig(auto_reconnect=False)
+        reader = ForceSerialReader(hand_type=HandType.right, config=config)
+        
+        # 模拟位置帧
+        angles_deg = [30.0, 45.0, 60.0]
+        frame_data = b''.join(struct.pack('<f', angle) for angle in angles_deg)
+        
+        reader._handle_position_frame(frame_data)
+        
+        poslist = reader.poslist
+        assert len(poslist) == 3
+        for i, angle in enumerate(angles_deg):
+            expected = np.deg2rad(angle)
+            assert abs(poslist[i] - expected) < 0.0001
+    
+    def test_force_frame():
+        config = SerialConfig(auto_reconnect=False)
+        reader = ForceSerialReader(hand_type=HandType.right, config=config)
+        
+        # 模拟力数据帧
+        forces = [100, 200, 300]
+        frame_data = b''.join(struct.pack('>h', force) for force in forces)
+        
+        reader._handle_force_frame(frame_data)
+        
+        realforcelist = reader.realforcelist
+        assert len(realforcelist) == 3
+        assert realforcelist == forces
+    
+    def test_pack_data():
+        config = SerialConfig(auto_reconnect=False)
+        reader = ForceSerialReader(hand_type=HandType.right, config=config)
+        
+        pack_01 = reader._pack_01_data()
+        assert pack_01[0] == 0x5D
+        assert pack_01[1] == 0x01
+        assert pack_01[2] == 0x00
+        
+        pack_03 = reader._pack_03_data()
+        assert pack_03[0] == 0x5D
+        assert pack_03[1] == 0x03
+    
+    runner.test("ForceReader初始状态", test_initial)
+    runner.test("ForceReader线程安全", test_thread_safe)
+    runner.test("ForceReader版本帧处理", test_version_frame)
+    runner.test("ForceReader位置帧处理", test_position_frame)
+    runner.test("ForceReader力数据帧处理", test_force_frame)
+    runner.test("ForceReader数据打包", test_pack_data)
+    return runner
+
+
+def test_concurrent_access():
+    """并发访问压力测试"""
+    runner = TestRunner()
+    
+    def test_concurrent():
+        config = SerialConfig(auto_reconnect=False)
+        reader = ForceSerialReader(hand_type=HandType.right, config=config)
+        
+        read_count = [0]
+        write_count = [0]
+        
+        def writer():
+            for i in range(100):
+                with reader._lock:
+                    reader._poslist = [float(i)] * 21
+                write_count[0] += 1
+                time.sleep(0.0001)
+        
+        def reader_thread():
+            for _ in range(100):
+                data = reader.poslist
+                assert len(data) == 21
+                read_count[0] += 1
+                time.sleep(0.0001)
+        
+        threads = [
+            threading.Thread(target=writer),
+            threading.Thread(target=reader_thread),
+            threading.Thread(target=reader_thread)
+        ]
+        
+        for t in threads:
+            t.start()
+        for t in threads:
+            t.join()
+        
+        assert write_count[0] == 100
+        assert read_count[0] == 200
+    
+    runner.test("并发访问压力测试", test_concurrent)
+    return runner
+
+
+def main():
+    print("=" * 60)
+    print("LinkerForce 改进版验证测试")
+    print("=" * 60)
+    print()
+    
+    # 运行所有测试
+    results = []
+    
+    print("【配置类测试】")
+    results.append(test_serial_config())
+    print()
+    
+    print("【设备信息测试】")
+    results.append(test_device_info())
+    print()
+    
+    print("【帧解析器测试】")
+    results.append(test_frame_parser())
+    print()
+    
+    print("【ForceReader测试】")
+    results.append(test_force_reader())
+    print()
+    
+    print("【并发访问测试】")
+    results.append(test_concurrent_access())
+    print()
+    
+    # 汇总结果
+    print("=" * 60)
+    print("总体测试报告")
+    print("=" * 60)
+    
+    total_passed = sum(r.tests_passed for r in results)
+    total_failed = sum(r.tests_failed for r in results)
+    
+    print(f"总通过: {total_passed}")
+    print(f"总失败: {total_failed}")
+    print(f"成功率: {total_passed / (total_passed + total_failed) * 100:.1f}%")
+    
+    if total_failed == 0:
+        print("\n✓ 所有测试通过！")
+        return 0
+    else:
+        print("\n✗ 存在失败的测试")
+        return 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/unit/test_linkermcgcore.py b/src/linkerhand_retarget/tests/unit/test_linkermcgcore.py
new file mode 100644
index 0000000..671ecab
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_linkermcgcore.py
@@ -0,0 +1,52 @@
+import pytest
+from linkerhand_retarget.linkerhand.linkermcgcore import HaoCunData, HaoCunScoketUdp, HandData, NODES_HAND, LOG_FILE_PATH
+
+
+class TestHaoCunData:
+    def test_initialization(self):
+        data = HaoCunData()
+        assert data.is_update == False
+        assert data.frame_index == 0
+        assert data.frequency == 0
+
+    def test_jointangle_arrays_length(self):
+        data = HaoCunData()
+        assert len(data.jointangle_rHand) == NODES_HAND
+        assert len(data.jointangle_lHand) == NODES_HAND
+
+
+class TestHaoCunScoketUdp:
+    def test_initialization_default(self):
+        udp = HaoCunScoketUdp()
+        assert udp.socket_udp is None
+        assert udp.isconnect == False
+
+    def test_initialization_custom_params(self):
+        udp = HaoCunScoketUdp(host='192.168.1.1', port=8000, buffer_size=4096)
+        assert udp.udp_thread is None
+        assert udp.udp_running == False
+
+    def test_is_use_face_blendshapes_default_false(self):
+        udp = HaoCunScoketUdp()
+        assert udp.is_use_face_blend_shapes_arkit == False
+
+
+class TestHandData:
+    def test_hand_data_creation(self):
+        data = HandData(
+            pitch=[0]*5,
+            side=[0]*5,
+            roll=[0]*5,
+            two_pitch=[0]*5,
+            end_pitch=[0]*5
+        )
+        assert len(data.pitch) == 5
+        assert len(data.side) == 5
+
+
+class TestConstants:
+    def test_nodes_hand_value(self):
+        assert NODES_HAND == 25
+
+    def test_log_file_path(self):
+        assert LOG_FILE_PATH == "/tmp/a.log"
diff --git a/src/linkerhand_retarget/tests/unit/test_mapping_curve.py b/src/linkerhand_retarget/tests/unit/test_mapping_curve.py
new file mode 100644
index 0000000..5bcc822
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_mapping_curve.py
@@ -0,0 +1,148 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Mapping Curve Test Script
+Test open → opose → fist interpolation for specified joints
+
+Usage:
+    python3 test_mapping_curve.py [joint_index]
+    
+    joint_index: 0-20 (sensor index), default: all end joints
+    
+    Joint mapping:
+        2: Thumb Root Flexion
+        4: Thumb End Flexion
+        6: Index Root Flexion
+        8: Index End Flexion
+        10: Middle Root Flexion
+        12: Middle End Flexion
+        14: Ring Root Flexion
+        16: Ring End Flexion
+        18: Pinky Root Flexion
+        20: Pinky End Flexion
+    
+Example:
+    python3 test_mapping_curve.py 6   # Index Root Flexion
+    python3 test_mapping_curve.py     # All end joints
+"""
+
+import sys
+import json
+import numpy as np
+from pathlib import Path
+
+TMP_FILE = Path(__file__).resolve().parent.parent.parent / "linkerhand_retarget" / "motion" / "linkerforce" / "tmp" / "jointangle_data.tmp"
+with open(TMP_FILE) as f:
+    data = json.load(f)
+
+open_r = data['jointangleoriginal_r']
+opose_r = data['jointangleopose_r']
+fist_r = data['jointanglefist_r']
+
+JOINT_NAMES = {
+    2: '拇指根部', 4: '拇指末端',
+    6: '食指根部', 8: '食指末端',
+    10: '中指根部', 12: '中指末端',
+    14: '无名指根部', 16: '无名指末端',
+    18: '小指根部', 20: '小指末端',
+}
+
+EXP_FACTORS = {
+    2: 5, 4: 7,
+    6: 10, 8: 3,
+    10: 5, 12: 10,
+    14: 5, 16: 18,
+    18: 5, 20: 8,
+}
+
+MOTOR_OPEN = 255
+MOTOR_OPOSE = 128
+MOTOR_FIST = 0
+
+def interpolate(a, b, t):
+    return a + (b - a) * t
+
+def map_value(sensor_val, sensor_open, sensor_opose, sensor_fist, exp_factor):
+    if abs(sensor_opose - sensor_open) < 1e-6:
+        normalized = 0.5
+    else:
+        normalized = (sensor_val - sensor_open) / (sensor_opose - sensor_open)
+    
+    if normalized <= 0:
+        return MOTOR_OPEN, normalized
+    elif normalized <= 1:
+        return MOTOR_OPEN + normalized * (MOTOR_OPOSE - MOTOR_OPEN), normalized
+    else:
+        exceed_amount = normalized - 1.0
+        slope = MOTOR_FIST - MOTOR_OPOSE
+        if exp_factor == 1.0:
+            extension = exceed_amount * slope
+        else:
+            linear_extension = exceed_amount * slope
+            exp_multiplier = 1.0 + (exp_factor - 1.0) * exceed_amount
+            extension = linear_extension * exp_multiplier
+        result = MOTOR_OPOSE + extension
+        return max(MOTOR_FIST, result), normalized
+
+def test_joint(idx):
+    name = JOINT_NAMES.get(idx, f'关节{idx}')
+    exp_factor = EXP_FACTORS.get(idx, 5)
+    
+    sensor_open = open_r[idx]
+    sensor_opose = opose_r[idx]
+    sensor_fist = fist_r[idx]
+    
+    normalized_fist = (sensor_fist - sensor_open) / (sensor_opose - sensor_open) if abs(sensor_opose - sensor_open) > 1e-6 else 0.5
+    
+    print(f"【{name}】 (传感器索引 {idx}, exp_factor={exp_factor})")
+    print("-" * 75)
+    print(f"传感器值: open={sensor_open:.4f}, opose={sensor_opose:.4f}, fist={sensor_fist:.4f}")
+    print(f"normalized_fist={normalized_fist:.4f}")
+    print()
+    print(f"{'阶段':<12} {'插值t':<8} {'传感器值':<12} {'normalized':<12} {'电机值':<10} {'说明'}")
+    print("-" * 75)
+    
+    for t in np.arange(0, 1.1, 0.1):
+        sensor_val = interpolate(sensor_open, sensor_opose, t)
+        motor_val, normalized = map_value(sensor_val, sensor_open, sensor_opose, sensor_fist, exp_factor)
+        print(f"open→opose  {t:<8.1f} {sensor_val:<12.4f} {normalized:<12.4f} {motor_val:<10.1f}")
+    
+    print()
+    
+    for t in np.arange(0, 1.1, 0.1):
+        sensor_val = interpolate(sensor_opose, sensor_fist, t)
+        motor_val, normalized = map_value(sensor_val, sensor_open, sensor_opose, sensor_fist, exp_factor)
+        phase = "延伸" if t > 0 else "opose"
+        print(f"opose→fist  {t:<8.1f} {sensor_val:<12.4f} {normalized:<12.4f} {motor_val:<10.1f} {phase}")
+    
+    print()
+
+def main():
+    if len(sys.argv) > 1:
+        try:
+            idx = int(sys.argv[1])
+            if idx not in JOINT_NAMES:
+                print(f"错误: 不支持关节索引 {idx}")
+                print("有效索引:", sorted(JOINT_NAMES.keys()))
+                return
+            print("=" * 80)
+            print(f"映射曲线测试 - 关节 {idx}")
+            print("=" * 80)
+            print()
+            test_joint(idx)
+        except ValueError:
+            print(__doc__)
+    else:
+        print("=" * 80)
+        print("映射曲线测试 - 所有末端关节")
+        print("=" * 80)
+        print()
+        for idx in [4, 8, 12, 16, 20]:
+            test_joint(idx)
+    
+    print("=" * 80)
+    print("测试完成")
+    print("=" * 80)
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/src/linkerhand_retarget/tests/unit/test_sensenovacore.py b/src/linkerhand_retarget/tests/unit/test_sensenovacore.py
new file mode 100644
index 0000000..b2b6e5f
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_sensenovacore.py
@@ -0,0 +1,7 @@
+import pytest
+from linkerhand_retarget.linkerhand.sensenovacore import NODES_HAND
+
+
+class TestSensenovaConstants:
+    def test_nodes_hand_value(self):
+        assert NODES_HAND == 30
diff --git a/src/linkerhand_retarget/tests/unit/test_udexrealcore.py b/src/linkerhand_retarget/tests/unit/test_udexrealcore.py
new file mode 100644
index 0000000..34f0f61
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_udexrealcore.py
@@ -0,0 +1,96 @@
+import pytest
+from linkerhand_retarget.linkerhand.udexrealcore import (
+    UdexRealData, MotionData, Bone, Parameter, DeviceData,
+    NODES_HAND, NO_DATA_TIMEOUT
+)
+
+
+class TestUdexRealData:
+    def test_initialization(self):
+        data = UdexRealData()
+        assert data.is_update == False
+        assert data.frame_index == 0
+        assert data.frequency == 0
+
+    def test_jointangle_arrays_length(self):
+        data = UdexRealData()
+        assert len(data.jointangle_rHand) == NODES_HAND
+        assert len(data.jointangle_lHand) == NODES_HAND
+
+    def test_jointderict_arrays_length(self):
+        data = UdexRealData()
+        assert len(data.jointderict_rHand) == NODES_HAND
+        assert len(data.jointderict_lHand) == NODES_HAND
+
+    def test_jointderict_default_values(self):
+        data = UdexRealData()
+        assert all(v == 1 for v in data.jointderict_rHand)
+        assert all(v == 1 for v in data.jointderict_lHand)
+
+    def test_timeout_attributes(self):
+        data = UdexRealData()
+        assert data.last_data_time == 0.0
+        assert data.is_data_timeout == False
+
+
+class TestBone:
+    def test_bone_creation(self):
+        bone = Bone(
+            Name="test_bone",
+            Parent=1,
+            Location=[0.0, 0.0, 0.0],
+            Rotation=[0.0, 0.0, 0.0, 1.0],
+            Scale=[1.0, 1.0, 1.0]
+        )
+        assert bone.Name == "test_bone"
+        assert bone.Parent == 1
+        assert bone.Location == [0.0, 0.0, 0.0]
+
+
+class TestParameter:
+    def test_parameter_creation(self):
+        param = Parameter(Name="test_param", Value=1.0)
+        assert param.Name == "test_param"
+        assert param.Value == 1.0
+
+    def test_parameter_int_value(self):
+        param = Parameter(Name="int_param", Value=10)
+        assert param.Value == 10
+
+    def test_parameter_bool_value(self):
+        param = Parameter(Name="bool_param", Value=True)
+        assert param.Value == True
+
+
+class TestDeviceData:
+    def test_device_data_creation(self):
+        bone = Bone(Name="bone1", Parent=0, Location=[0,0,0], Rotation=[0,0,0,1], Scale=[1,1,1])
+        param = Parameter(Name="param1", Value=1.0)
+        device = DeviceData(Bones=[bone], Parameter=[param])
+        
+        assert len(device.Bones) == 1
+        assert len(device.Parameter) == 1
+
+
+class TestMotionData:
+    def test_initialization_empty(self):
+        motion = MotionData({})
+        assert motion.devices == {}
+
+    def test_get_device_not_found(self):
+        motion = MotionData({})
+        result = motion.get_device("nonexistent")
+        assert result is None
+
+    def test_list_sequence_params_empty(self):
+        motion = MotionData({})
+        with pytest.raises(ValueError):
+            motion.list_sequence_params("nonexistent", "prefix")
+
+
+class TestConstants:
+    def test_nodes_hand_value(self):
+        assert NODES_HAND == 24
+
+    def test_no_data_timeout_value(self):
+        assert NO_DATA_TIMEOUT == 1.0
diff --git a/src/linkerhand_retarget/tests/unit/test_utils.py b/src/linkerhand_retarget/tests/unit/test_utils.py
new file mode 100644
index 0000000..7c5f8e0
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_utils.py
@@ -0,0 +1,331 @@
+import pytest
+import numpy as np
+import tempfile
+import os
+import yaml
+from linkerhand_retarget.linkerhand.utils import (
+    DataSource,
+    read_yaml,
+    extract_dataset_folder_last_two_digits,
+    translate_wrist_to_origin,
+    apply_pose_matrix,
+    inverse_transformation,
+    trans_xyzwori_to_wxyzori,
+    trans_wxyzori_to_xyzwori,
+    scale_value,
+    is_within_range,
+    extend_line,
+    poseture_to_matrix,
+    cal_distance,
+    change_list,
+    quaternion_conjugate,
+    quaternion_norm_squared,
+    quaternion_inverse,
+    quaternion_multiply,
+    unitydata_to_worldspacedata,
+    get_quaternion_relative,
+    get_child_quaternion,
+    rotate_matrix_x,
+    rotate_matrix_y,
+    rotate_matrix_z,
+    rotate_quaternion,
+    cubic_model,
+)
+
+
+class TestDataSource:
+    def test_enum_values(self):
+        assert DataSource.motion.value == 1
+        assert DataSource.video.value == 2
+        assert DataSource.vr.value == 3
+
+    def test_enum_names(self):
+        assert DataSource.motion.name == "motion"
+        assert DataSource.video.name == "video"
+        assert DataSource.vr.name == "vr"
+
+
+class TestReadYaml:
+    def test_read_valid_yaml(self):
+        with tempfile.NamedTemporaryFile(mode='w', suffix='.yaml', delete=False) as f:
+            yaml.dump({'key': 'value', 'number': 42}, f)
+            f.flush()
+            config = read_yaml(f.name)
+            assert config['key'] == 'value'
+            assert config['number'] == 42
+            os.unlink(f.name)
+
+    def test_read_nested_yaml(self):
+        data = {'a': {'b': {'c': 1}}}
+        with tempfile.NamedTemporaryFile(mode='w', suffix='.yaml', delete=False) as f:
+            yaml.dump(data, f)
+            f.flush()
+            config = read_yaml(f.name)
+            assert config['a']['b']['c'] == 1
+            os.unlink(f.name)
+
+
+class TestExtractDatasetFolderLastTwoDigits:
+    def test_valid_two_digits(self):
+        assert extract_dataset_folder_last_two_digits("folder23") == 23
+        assert extract_dataset_folder_last_two_digits("data99") == 99
+
+    def test_single_digit(self):
+        assert extract_dataset_folder_last_two_digits("folder05") == 5
+
+    def test_no_digits(self):
+        assert extract_dataset_folder_last_two_digits("folder") == -1
+        assert extract_dataset_folder_last_two_digits("abc") == -1
+
+
+class TestTranslateWristToOrigin:
+    def test_basic_translation(self):
+        joint_positions = np.array([[1.0, 2.0, 3.0], [4.0, 5.0, 6.0], [7.0, 8.0, 9.0]])
+        result = translate_wrist_to_origin(joint_positions)
+        assert np.allclose(result[0], [0.0, 0.0, 0.0])
+        assert np.allclose(result[1], [3.0, 3.0, 3.0])
+        assert np.allclose(result[2], [6.0, 6.0, 6.0])
+
+    def test_single_point(self):
+        joint_positions = np.array([[1.0, 2.0, 3.0]])
+        result = translate_wrist_to_origin(joint_positions)
+        assert np.allclose(result, [[0.0, 0.0, 0.0]])
+
+
+class TestApplyPoseMatrix:
+    def test_identity_matrix(self):
+        joint_positions = np.array([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0]])
+        pose_matrix = np.eye(4)
+        result = apply_pose_matrix(joint_positions, pose_matrix)
+        assert np.allclose(result, joint_positions)
+
+    def test_translation_matrix(self):
+        joint_positions = np.array([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0]])
+        pose_matrix = np.eye(4)
+        pose_matrix[:3, 3] = [10.0, 20.0, 30.0]
+        result = apply_pose_matrix(joint_positions, pose_matrix)
+        assert np.allclose(result[0], [11.0, 20.0, 30.0])
+        assert np.allclose(result[1], [10.0, 21.0, 30.0])
+
+
+class TestInverseTransformation:
+    def test_identity(self):
+        matrix = np.eye(4)
+        result = inverse_transformation(matrix)
+        assert np.allclose(result, np.eye(4))
+
+    def test_translation_only(self):
+        matrix = np.eye(4)
+        matrix[:3, 3] = [1.0, 2.0, 3.0]
+        result = inverse_transformation(matrix)
+        assert np.allclose(result[:3, 3], [-1.0, -2.0, -3.0])
+
+    def test_rotation_only(self):
+        matrix = np.eye(4)
+        matrix[:3, :3] = np.array([[0, -1, 0], [1, 0, 0], [0, 0, 1]])
+        result = inverse_transformation(matrix)
+        assert np.allclose(result[:3, :3], matrix[:3, :3].T)
+
+
+class TestQuaternionConversions:
+    def test_trans_xyzwori_to_wxyzori(self):
+        ori_xyzw = [0.1, 0.2, 0.3, 0.4]
+        result = trans_xyzwori_to_wxyzori(ori_xyzw)
+        assert result == (0.4, 0.1, 0.2, 0.3)
+
+    def test_trans_wxyzori_to_xyzwori(self):
+        ori_wxyz = [0.4, 0.1, 0.2, 0.3]
+        result = trans_wxyzori_to_xyzwori(ori_wxyz)
+        assert result == (0.1, 0.2, 0.3, 0.4)
+
+    def test_quaternion_roundtrip(self):
+        original = [0.1, 0.2, 0.3, 0.4]
+        wxyz = trans_xyzwori_to_wxyzori(original)
+        back = trans_wxyzori_to_xyzwori(wxyz)
+        assert np.allclose(back, original)
+
+
+class TestScaleValue:
+    def test_identity_scale(self):
+        result = scale_value(5.0, 0.0, 10.0, 0.0, 10.0)
+        assert result == 5.0
+
+    def test_range_conversion(self):
+        result = scale_value(5.0, 0.0, 10.0, 0.0, 100.0)
+        assert result == 50.0
+
+    def test_negative_range(self):
+        result = scale_value(5.0, 0.0, 10.0, -100.0, 0.0)
+        assert result == -50.0
+
+    def test_out_of_bounds(self):
+        result = scale_value(15.0, 0.0, 10.0, 0.0, 100.0)
+        assert result == 150.0
+
+
+class TestIsWithinRange:
+    def test_within_bounds(self):
+        assert is_within_range(5.0, 0.0, 10.0) == 5.0
+
+    def test_above_max(self):
+        assert is_within_range(15.0, 0.0, 10.0) == 10.0
+
+    def test_below_min(self):
+        assert is_within_range(-5.0, 0.0, 10.0) == 0.0
+
+
+class TestExtendLine:
+    def test_extend_positive(self):
+        point1 = [0.0, 0.0, 0.0]
+        point2 = [1.0, 0.0, 0.0]
+        result = extend_line(point1, point2, 1.0)
+        assert np.allclose(result, [2.0, 0.0, 0.0])
+
+    def test_extend_negative(self):
+        point1 = [0.0, 0.0, 0.0]
+        point2 = [1.0, 0.0, 0.0]
+        result = extend_line(point1, point2, -0.5)
+        assert np.allclose(result, [0.5, 0.0, 0.0])
+
+
+class TestPosetureToMatrix:
+    def test_identity_rotation(self):
+        position = [1.0, 2.0, 3.0]
+        ori = [0.0, 0.0, 0.0, 1.0]
+        matrix = poseture_to_matrix(position, ori)
+        assert np.allclose(matrix[:3, 3], position)
+
+    def test_180_degree_rotation(self):
+        position = [0.0, 0.0, 0.0]
+        ori = [1.0, 0.0, 0.0, 0.0]
+        matrix = poseture_to_matrix(position, ori)
+        assert np.allclose(matrix[:3, 3], position)
+
+
+class TestCalDistance:
+    def test_same_point(self):
+        assert cal_distance([1.0, 2.0, 3.0], [1.0, 2.0, 3.0]) == 0.0
+
+    def test_unit_distance(self):
+        assert cal_distance([0.0, 0.0, 0.0], [1.0, 0.0, 0.0]) == 1.0
+
+    def test_3d_distance(self):
+        result = cal_distance([0.0, 0.0, 0.0], [1.0, 2.0, 2.0])
+        assert np.isclose(result, 3.0)
+
+
+class TestChangeList:
+    def test_none_conversion(self):
+        input_list = ['None', '1', '2']
+        result = change_list(input_list)
+        assert result == [None, '1', '2']
+
+    def test_no_none(self):
+        input_list = ['1', '2', '3']
+        result = change_list(input_list)
+        assert result == ['1', '2', '3']
+
+    def test_all_none(self):
+        input_list = ['None', 'None']
+        result = change_list(input_list)
+        assert result == [None, None]
+
+
+class TestQuaternionOperations:
+    def test_quaternion_conjugate(self):
+        q = [1.0, 2.0, 3.0, 4.0]
+        result = quaternion_conjugate(q)
+        assert np.allclose(result, [-1.0, -2.0, -3.0, 4.0])
+
+    def test_quaternion_norm_squared(self):
+        q = [1.0, 2.0, 2.0, 2.0]
+        result = quaternion_norm_squared(q)
+        assert result == 13.0
+
+    def test_quaternion_inverse(self):
+        q = [0.0, 0.0, 0.0, 1.0]
+        result = quaternion_inverse(q)
+        assert np.allclose(result, [0.0, 0.0, 0.0, 1.0])
+
+    def test_quaternion_multiply_identity(self):
+        q = [0.0, 0.0, 0.0, 1.0]
+        result = quaternion_multiply(q, q)
+        assert np.allclose(result, q)
+
+    def test_quaternion_multiply_rotation(self):
+        q1 = [0.0, 0.0, 0.0, 1.0]
+        q2 = [0.0, 0.0, 0.707, 0.707]
+        result = quaternion_multiply(q1, q2)
+        assert np.allclose(result, q2, atol=0.01)
+
+
+class TestUnitydataToWorldspacedata:
+    def test_basic_conversion(self):
+        positions = [[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]]
+        result = unitydata_to_worldspacedata(positions)
+        assert result == [[1.0, 3.0, 2.0], [4.0, 6.0, 5.0]]
+
+
+class TestQuaternionRelative:
+    def test_identity_orientation(self):
+        ori = [0.0, 0.0, 0.0, 1.0]
+        targetori = [0.0, 0.0, 0.0, 1.0]
+        result = get_quaternion_relative(ori, targetori)
+        assert np.allclose(result, [0.0, 0.0, 0.0, 1.0], atol=0.01)
+
+
+class TestGetChildQuaternion:
+    def test_identity_combination(self):
+        ori = [0.0, 0.0, 0.0, 1.0]
+        ori_relative = [0.0, 0.0, 0.0, 1.0]
+        result = get_child_quaternion(ori, ori_relative)
+        assert np.allclose(result, [0.0, 0.0, 0.0, 1.0], atol=0.01)
+
+
+class TestRotateMatrix:
+    def test_rotate_matrix_x_90(self):
+        result = rotate_matrix_x(np.pi / 2)
+        expected = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]])
+        assert np.allclose(result, expected)
+
+    def test_rotate_matrix_y_90(self):
+        result = rotate_matrix_y(np.pi / 2)
+        expected = np.array([[0, 0, 1], [0, 1, 0], [-1, 0, 0]])
+        assert np.allclose(result, expected)
+
+    def test_rotate_matrix_z_90(self):
+        result = rotate_matrix_z(np.pi / 2)
+        expected = np.array([[0, -1, 0], [1, 0, 0], [0, 0, 1]])
+        assert np.allclose(result, expected)
+
+    def test_rotate_matrix_identity(self):
+        assert np.allclose(rotate_matrix_x(0), np.eye(3))
+        assert np.allclose(rotate_matrix_y(0), np.eye(3))
+        assert np.allclose(rotate_matrix_z(0), np.eye(3))
+
+
+class TestRotateQuaternion:
+    def test_no_rotation(self):
+        original_quat = [0.0, 0.0, 0.0, 1.0]
+        result = rotate_quaternion(original_quat, 0, 0, 0)
+        assert np.allclose(result, original_quat, atol=0.01)
+
+    def test_180_degree_roll(self):
+        original_quat = [0.0, 0.0, 0.0, 1.0]
+        result = rotate_quaternion(original_quat, 180, 0, 0)
+        assert np.allclose(result, [1.0, 0.0, 0.0, 0.0], atol=0.01)
+
+
+class TestCubicModel:
+    def test_basic_evaluation(self):
+        result = cubic_model(1.0, 1.0, 1.0, 1.0, 1.0)
+        assert result == 4.0
+
+    def test_zero_coefficients(self):
+        result = cubic_model(2.0, 0.0, 0.0, 0.0, 5.0)
+        assert result == 5.0
+
+    def test_array_input(self):
+        x = np.array([0.0, 1.0, 2.0])
+        result = cubic_model(x, 1.0, 0.0, 0.0, 0.0)
+        assert np.allclose(result, [0.0, 1.0, 8.0])
diff --git a/src/linkerhand_retarget/tests/unit/test_vtrdyncore.py b/src/linkerhand_retarget/tests/unit/test_vtrdyncore.py
new file mode 100644
index 0000000..3cdc6e2
--- /dev/null
+++ b/src/linkerhand_retarget/tests/unit/test_vtrdyncore.py
@@ -0,0 +1,76 @@
+import pytest
+from linkerhand_retarget.linkerhand.vtrdyncore import MocapData, VtrdynSocketUdp, NODES_BODY, NODES_HAND, NODES_FACEBS_ARKIT, NODES_FACEBS_AUDIO
+
+
+class TestMocapData:
+    def test_initialization(self):
+        mocap = MocapData()
+        assert mocap.is_update == False
+        assert mocap.frame_index == 0
+        assert mocap.frequency == 0
+
+    def test_body_arrays_length(self):
+        mocap = MocapData()
+        assert len(mocap.sensor_state_body) == NODES_BODY
+        assert len(mocap.position_body) == NODES_BODY
+        assert len(mocap.quaternion_body) == NODES_BODY
+        assert len(mocap.gyr_body) == NODES_BODY
+        assert len(mocap.acc_body) == NODES_BODY
+        assert len(mocap.velocity_body) == NODES_BODY
+
+    def test_hand_arrays_length(self):
+        mocap = MocapData()
+        assert len(mocap.sensor_state_r_hand) == NODES_HAND
+        assert len(mocap.position_rHand) == NODES_HAND
+        assert len(mocap.quaternion_rHand) == NODES_HAND
+
+    def test_face_blendshapes_length(self):
+        mocap = MocapData()
+        assert len(mocap.face_blend_shapes_arkit) == NODES_FACEBS_ARKIT
+        assert len(mocap.face_blend_shapes_audio) == NODES_FACEBS_AUDIO
+
+    def test_eyeball_quaternion_length(self):
+        mocap = MocapData()
+        assert len(mocap.local_quat_right_eyeball) == 4
+        assert len(mocap.local_quat_left_eyeball) == 4
+
+
+class TestVtrdynSocketUdp:
+    def test_initialization(self):
+        udp = VtrdynSocketUdp()
+        assert udp.socket_udp is None
+        assert udp.isconnect == False
+
+    def test_initialization_with_debug(self):
+        udp = VtrdynSocketUdp(debug=True)
+        assert udp.debug == True
+
+    def test_mocap_data_initialized(self):
+        udp = VtrdynSocketUdp()
+        assert udp.mocap_data_realtime is not None
+
+    def test_data_lock_initialized(self):
+        udp = VtrdynSocketUdp()
+        assert udp.data_lock is not None
+
+    def test_send_running_default_false(self):
+        udp = VtrdynSocketUdp()
+        assert udp.send_running == False
+
+    def test_thread_initialized(self):
+        udp = VtrdynSocketUdp()
+        assert udp.send_thread is None
+
+
+class TestConstants:
+    def test_nodes_body_value(self):
+        assert NODES_BODY == 23
+
+    def test_nodes_hand_value(self):
+        assert NODES_HAND == 20
+
+    def test_nodes_facebs_arkit_value(self):
+        assert NODES_FACEBS_ARKIT == 52
+
+    def test_nodes_facebs_audio_value(self):
+        assert NODES_FACEBS_AUDIO == 26
diff --git a/src/requirements.txt b/src/requirements.txt
new file mode 100644
index 0000000..4e77d45
--- /dev/null
+++ b/src/requirements.txt
@@ -0,0 +1,14 @@
+anytree
+colorama
+loguru
+lxml
+numpy
+pyqtgraph
+pyserial
+PyYAML
+scipy>=1.10.0
+six
+tqdm
+transforms3d
+trimesh
+tyro
\ No newline at end of file
diff --git a/startup_linkerforce.sh b/startup_linkerforce.sh
new file mode 100644
index 0000000..7ecbe48
--- /dev/null
+++ b/startup_linkerforce.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+# LinkerForce 手套遥操作启动脚本
+
+# 设置串口权限
+sudo chmod 666 /dev/ttyUSB0
+sudo chmod 666 /dev/ttyUSB1
+
+# source ROS 工作空间(请输入正确的目录)
+source /home/linker-brunt/project/linkerhand_telop_sdk/v2/ros2/install/setup.bash
+
+# 启动程序（强制标定）
+# ros2 run linkerhand_retarget handretarget --ros-args -p calibration:=True
+
+# 无标定启动
+ros2 run linkerhand_retarget handretarget 
\ No newline at end of file