Hey Everybody,

today i'm trying to generate a .urdf file with a "skeleton of a hand", i did 3 fingers and everything was right, but when i created the finger number 4 and spawn it, gazebo doesn't show me anything and displays this:

 > configure node...
 > LightListWidget::OnLightMsg Warning
 > [parser.cc:348] Gazebo SDF has no
 > gazebo element Warning [parser.cc:291]
 > DEPRECATED GAZEBO MODEL FILE On July
 > 1st, 2012, this formate will no longer
 > by supported Convert your files using
 > the gzsdf command line tool You have
 > been warned!

and everything goes rigth until the last joint, my urdf file is:

<robot name="MANO">

  <property name="radio" value="0.05" />
  <property name="dosymedio" value="0.25" />
  <property name="dos" value="0.2" />
  <property name="unmedio" value="0.15" />

   <link name="Palma">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
      <geometry>
        <box size="0.9 0.7 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
      <geometry>
                <box size="0.9 0.7 0.1" />
      </geometry>
    </collision>
  </link>
  <gazebo reference="Palma">
    <material>Gazebo/FlatBlack</material>
  </gazebo>


   <joint name="a1" type="fixed" >
    <parent link="Palma" />
    <origin xyz="0.45 0.3 0" rpy="0 0 0" />
    <child link="fal1" />
  </joint>


  <link name="fal1">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.125 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.25 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.125 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.25 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal1">
    <material>Gazebo/FlatBlack</material>
  </gazebo>


<joint name="a2" type="fixed" >
    <parent link="fal1" />
    <origin xyz="0.25 0 0" rpy="0 0 0" />
    <child link="fal2" />
  </joint>


  <link name="fal2">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.1 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.2 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.1 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.2 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal2">
    <material>Gazebo/FlatBlack</material>
  </gazebo>



<joint name="a3" type="fixed" >
    <parent link="fal2" />
    <origin xyz="0.1 0 0" rpy="0 0 0" />
    <child link="fal3" />
  </joint>


  <link name="fal3">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.2 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.2 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.1 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.2 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal3">
    <material>Gazebo/FlatBlack</material>
  </gazebo>



<joint name="a4" type="fixed" >
    <parent link="Palma" />
    <origin xyz="0.45 0.1 0" rpy="0 0 0" />
    <child link="fal4" />
  </joint>


  <link name="fal4">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.125 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.25 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.125 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.25 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal4">
    <material>Gazebo/FlatBlack</material>
  </gazebo>



<joint name="a5" type="fixed" >
    <parent link="fal4" />
    <origin xyz="0.25 0 0" rpy="0 0 0" />
    <child link="fal5" />
  </joint>


  <link name="fal5">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.125 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.25 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.125 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.25 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal5">
    <material>Gazebo/FlatBlack</material>
  </gazebo>



<joint name="a6" type="fixed" >
    <parent link="fal5" />
    <origin xyz="0.25 0 0" rpy="0 0 0" />
    <child link="fal6" />
  </joint>


  <link name="fal6">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.1 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.2 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.1 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.2 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal6">
    <material>Gazebo/FlatBlack</material>
  </gazebo>



<joint name="a7" type="fixed" >
    <parent link="Palma" />
    <origin xyz="0.45 -0.1 0" rpy="0 0 0" />
    <child link="fal7" />
  </joint>


  <link name="fal7">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.1 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.2 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.1 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.2 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal7">
    <material>Gazebo/FlatBlack</material>
  </gazebo>


<joint name="a8" type="fixed" >
    <parent link="fal7" />
    <origin xyz="0.1 0 0" rpy="0 0 0" />
    <child link="fal8" />
  </joint>


  <link name="fal8">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.2 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.2 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.2 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.2 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal8">
    <material>Gazebo/FlatBlack</material>
  </gazebo>




<joint name="a10" type="fixed" >
    <parent link="Palma" />
    <origin xyz="0.45 -0.3 0" rpy="0 0 0" />
    <child link="fal10" />
  </joint>


  <link name="fal10">
    <inertial>
      <mass value="1.0" />
      <origin xyz="0 0 0" />
      <inertia ixx="1" ixy="0"  ixz="0"
               iyx="0" iyy="1" iyz="0"
               izz="1" />
    </inertial> 
    <visual>
      <origin xyz="0.075 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.15 0.1 0.1" />
      </geometry>
    </visual> 
    <collision>
      <origin xyz="0.075 0 0" rpy="0 0 0" />
      <geometry>
          <box size="0.15 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fal10">
    <material>Gazebo/FlatBlack</material>
  </gazebo>



</robot>