message: CHANGE: Use `<xacro:collision_capsule>` also for hand.xacro
diff: <origin xyz="${xyz}" rpy="${rpy}" />
  </joint>
  </xacro:unless>
  +
  <xacro:link_detailed_coarse name="hand">
  <self_collision_geometries>
  - <collision>
  - <origin xyz="0 0 0.04" rpy="0 ${pi/2} ${pi/2}" />
  - <geometry>
  - <cylinder radius="${0.04+safety_distance}" length="0.1" />
  - </geometry>
  - </collision>
  - <collision>
  - <origin xyz="0 -0.05 0.04" rpy="0 0 0" />
  - <geometry>
  - <sphere radius="${0.04+safety_distance}" />
  - </geometry>
  - </collision>
  - <collision>
  - <origin xyz="0 0.05 0.04" rpy="0 0 0" />
  - <geometry>
  - <sphere radius="${0.04+safety_distance}" />
  - </geometry>
  - </collision>
  - <collision>
  - <origin xyz="0 0 0.1" rpy="0 ${pi/2} ${pi/2}" />
  - <geometry>
  - <cylinder radius="${0.02+safety_distance}" length="0.1" />
  - </geometry>
  - </collision>
  - <collision>
  - <origin xyz="0 -0.05 0.1" rpy="0 0 0" />
  - <geometry>
  - <sphere radius="${0.02+safety_distance}" />
  - </geometry>
  - </collision>
  - <collision>
  - <origin xyz="0 0.05 0.1" rpy="0 0 0" />
  - <geometry>
  - <sphere radius="${0.02+safety_distance}" />
  - </geometry>
  - </collision>
  + <xacro:collision_capsule xyz="0 0 0.04" direction="y" radius="${0.04+safety_distance}" length="0.1" />
  + <xacro:collision_capsule xyz="0 0 0.10" direction="y" radius="${0.02+safety_distance}" length="0.1" />
  </self_collision_geometries>
  </xacro:link_detailed_coarse>
  +
  <!-- Define the hand_tcp frame -->
  <link name="${arm_id}_hand_tcp" />
  <joint name="${arm_id}_hand_tcp_joint" type="fixed">
  