message: FIX: Add slight offset between fingers in initial positions
  This makes the spawning of the fingers more stable, since they start not already
  in collision with each other. When no hand is used, the model spawner simply
  ignores additional joints.
diff: -J $(arg arm_id)_joint4 -1.57079632679
  -J $(arg arm_id)_joint5 0
  -J $(arg arm_id)_joint6 1.57079632679
  - -J $(arg arm_id)_joint7 0.785398163397"
  + -J $(arg arm_id)_joint7 0.785398163397
  + -J $(arg arm_id)_finger_joint1 0.001
  + -J $(arg arm_id)_finger_joint2 0.001"
  />
  <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(arg gazebo)">
  