message: FIX: Don't mimic fingers in gazebo
  This is unfortunately not possible, since gazebo cannot reflect external force
  acting on one finger onto the mimicked other finger
diff: <axis xyz="0 -1 0"/>
  <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
  <dynamics damping="0.3"/>
  - <mimic joint="${ns}_finger_joint1" />
  </joint>
  </xacro:macro>
  </robot>
  