Hand Mk5 joints Specs

Joint number	Motors	Identifier	Type	Parent link	Child link	Notes
		l_thumb_add	ROT	l_hand_palm	l_hand_thumb_1	T1 in fig.
		l_thumb_prox	ROT	l_hand_thumb_1	l_hand_thumb_2	T2 in fig.
		l_thumb_dist	ROT	l_hand_thumb_2	l_hand_thumb_3	T3 in fig.
		l_index_add	ROT	l_hand_palm	l_hand_index_1	I1 in fig.
		l_index_prox	ROT	l_hand_index_1	l_hand_index_2	I2 in fig.
		l_index_dist	ROT	l_hand_index_2	l_hand_index_3	I3 in fig.
		l_middle_prox	ROT	l_hand_palm	l_hand_middle_1	M1 in fig.
		l_middle_dist	ROT	l_hand_middle_1	l_hand_middle_2	M2 in fig.
		l_ring_prox	ROT	l_hand_palm	l_hand_ring_1	R1 in fig.
		l_ring_dist	ROT	l_hand_ring_1	l_hand_ring_2	R2 in fig.
		l_pinkie_prox	ROT	l_hand_palm	l_hand_pinkie_1	P1 in fig.
		l_pinkie_dist	ROT	l_hand_pinkie_1	l_hand_pinkie_2	P2 in fig.

_{Hand Mk5 joints}