message: changed the origin of the left and right finger joints to avoid collision
diff: <joint name="${name}_finger_left_joint" type="prismatic" >
  - <origin xyz="0 0 0.0789" rpy="0 0 0"/>
  + <origin xyz="0 0.0055 0.0789" rpy="0 0 0"/>
  <parent link="${name}_palm_link" />
  <child link="${name}_finger_left_link" />
  <axis xyz="0 1 0" />
  <joint name="${name}_finger_right_joint" type="prismatic" >
  - <origin xyz="0 0 0.0789" rpy="-0 0 0"/>
  + <origin xyz="0 -0.0055 0.0789" rpy="-0 0 0"/>
  <parent link="${name}_palm_link" />
  <child link="${name}_finger_right_link" />
  <axis xyz="0 -1 0" />
  