<?xml version="1.0" encoding="utf-8"?>
<!--
 Software License Agreement (BSD License)
 Copyright © 2022 belongs to Shadow Robot Company Ltd.
 All rights reserved.
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
   1. Redistributions of source code must retain the above copyright notice,
      this list of conditions and the following disclaimer.
   2. Redistributions in binary form must reproduce the above copyright notice,
      this list of conditions and the following disclaimer in the documentation
      and/or other materials provided with the distribution.
   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
      may be used to endorse or promote products derived from this software without
      specific prior written permission.
 This software is provided by Shadow Robot Company Ltd "as is" and any express
 or implied warranties, including, but not limited to, the implied warranties of
 merchantability and fitness for a particular purpose are disclaimed. In no event
 shall the copyright holder be liable for any direct, indirect, incidental, special,
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 however caused and on any theory of liability, whether in contract, strict liability,
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-->
<robot name="bimanual_shadowhand_motor">
  <material name="Grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="LightGrey">
    <color rgba="0.6 0.6 0.6 1.0"/>
  </material>
  <link name="world"/>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="rh_forearm"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="rh_forearm">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.09"/>
      <mass value="3.0"/>
      <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry name="rh_forearm_visual">
        <mesh filename="meshes/visual/forearm/forearm_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="light_grey">
        <color rgba="0.90000 0.90000 0.90000 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry name="rh_forearm_collision">
        <mesh filename="meshes/visual/forearm/forearm_collision_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <!-- wrist mount -->
    <collision>
      <origin rpy="0 0.78 0" xyz="0 -0.01 0.181"/>
      <geometry>
        <box size="0.07 0.07 0.07"/>
      </geometry>
    </collision>
    <!-- TODO: Make a decision on whether to add the connector or not -->
    <!--visual>
        <origin rpy="0 -1.57 -1.57" xyz="0.0 0.067 0.0045"/>
        <geometry name="${prefix}cable_extr_visualisation">
          <mesh filename="meshes/visual/cable_connector/cable_connector_base_${hand_version}.dae" scale="0.001 0.001 0.001" />
        </geometry>
      </visual-->
  </link>
  <gazebo reference="rh_forearm">
    <selfCollide>false</selfCollide>
  </gazebo>
  <link name="rh_wrist">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.029"/>
      <mass value="0.1"/>
      <inertia ixx="0.000035" ixy="0.0" ixz="0.0" iyy="0.000064" iyz="0.0" izz="0.0000438"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_wrist_visual">
        <mesh filename="meshes/visual/wrist/wrist_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="1.5708 1.5708 0" xyz="0 0 0"/>
      <geometry name="rh_wrist_collision_geom">
        <cylinder length="0.030" radius="0.0135"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="-0.026 0 0.034"/>
      <geometry>
        <cylinder length="0.010" radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0.031 0 0.034"/>
      <geometry>
        <cylinder length="0.010" radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0.7854 0" xyz="-0.021 0 0.011"/>
      <geometry>
        <box size="0.027 0.018 0.010"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 -0.7854 0" xyz="0.026 0 0.010"/>
      <geometry>
        <box size="0.027 0.018 0.010"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_WRJ2" type="revolute">
    <parent link="rh_forearm"/>
    <child link="rh_wrist"/>
    <origin rpy="0 0 0" xyz="0 -0.010 0.21301"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-0.523598775598" upper="0.174532925199" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_palm">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.035"/>
      <mass value="0.3"/>
      <inertia ixx="0.0003581" ixy="0.0" ixz="0.0" iyy="0.0005287" iyz="0.0" izz="0.000191"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_palm_visual">
        <mesh filename="meshes/visual/palm/palm_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.011 0.0085 0.038"/>
      <geometry name="rh_palm_collision_geom">
        <box size="0.062 0.007 0.098"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.002 -0.0035 0.038"/>
      <geometry>
        <box size="0.036 0.017 0.098"/>
      </geometry>
    </collision>
    <!-- palm complement below first finger -->
    <collision>
      <origin rpy="0 0 0" xyz="0.029 -0.0035 0.082"/>
      <geometry>
        <box size="0.026 0.017 0.010"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0.2 0 0.25" xyz="0.0265 -0.001 0.070"/>
      <geometry>
        <box size="0.026 0.014 0.018"/>
      </geometry>
    </collision>
    <!-- thumb pulp side -->
    <collision>
      <origin rpy="0 0 0" xyz="0.0315 -0.0085 0.001"/>
      <geometry>
        <box size="0.021 0.027 0.024"/>
      </geometry>
    </collision>
    <!-- thumb pulp central -->
    <collision>
      <origin rpy="0 0 -0.48" xyz="0.0125 -0.015 0.009"/>
      <geometry>
        <box size="0.022 0.005 0.040"/>
      </geometry>
    </collision>
    <!-- above middle finger-->
    <collision>
      <origin rpy="0 0 0" xyz="0.011 0 0.089"/>
      <geometry>
        <box size="0.018 0.024 0.004"/>
      </geometry>
    </collision>
    <!-- metacarpal side-->
    <collision>
      <origin rpy="0 0 0" xyz="-0.03 0 0.009"/>
      <geometry>
        <box size="0.020 0.024 0.040"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_ee_fixed_joint" type="fixed">
    <parent link="rh_palm"/>
    <child link="rh_manipulator"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.05"/>
  </joint>
  <link name="rh_manipulator"/>
  <joint name="rh_WRJ1" type="revolute">
    <parent link="rh_wrist"/>
    <child link="rh_palm"/>
    <origin rpy="0 0 0" xyz="0 0 0.034"/>
    <axis xyz="1 0 0"/>
    <limit effort="30" lower="-0.698131700798" upper="0.488692190558" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_imu"/>
  <joint name="rh_palm_to_imu" type="fixed">
    <parent link="rh_palm"/>
    <child link="rh_imu"/>
    <origin rpy="-1.5707963 3.141592 0.0" xyz="0.01785 0.00765 0.049125"/>
  </joint>
  <link name="rh_ffknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="rh_ffknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <geometry name="rh_ffknuckle_collision_geom">
        <cylinder length="0.014" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_FFJ4" type="revolute">
    <parent link="rh_palm"/>
    <child link="rh_ffknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 0 0" xyz="0.033 0 0.095"/>
    <axis xyz="0 -1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_ffproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_ffproximal_visual">
        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="rh_ffproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_FFJ3" type="revolute">
    <parent link="rh_ffknuckle"/>
    <child link="rh_ffproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_ffmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_ffmiddle_visual">
        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="rh_ffmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_FFJ2" type="revolute">
    <parent link="rh_ffproximal"/>
    <child link="rh_ffmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_ffdistal">
    <inertial>
      <mass value="0.012"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_ffdistal_visual">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_ffdistal_collision_geom">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_FFJ1" type="revolute">
    <parent link="rh_ffmiddle"/>
    <child link="rh_ffdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_fftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="rh_FFtip" type="fixed">
    <parent link="rh_ffdistal"/>
    <child link="rh_fftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="rh_mfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="rh_mfknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <geometry name="rh_mfknuckle_collision_geom">
        <cylinder length="0.014" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_MFJ4" type="revolute">
    <parent link="rh_palm"/>
    <child link="rh_mfknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 0 0" xyz="0.011 0 0.099"/>
    <axis xyz="0 -1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_mfproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_mfproximal_visual">
        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="rh_mfproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_MFJ3" type="revolute">
    <parent link="rh_mfknuckle"/>
    <child link="rh_mfproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_mfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_mfmiddle_visual">
        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="rh_mfmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_MFJ2" type="revolute">
    <parent link="rh_mfproximal"/>
    <child link="rh_mfmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_mfdistal">
    <inertial>
      <mass value="0.012"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_mfdistal_visual">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_mfdistal_collision_geom">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_MFJ1" type="revolute">
    <parent link="rh_mfmiddle"/>
    <child link="rh_mfdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <gazebo reference="rh_MFJ1">
    <provideFeedback>1</provideFeedback>
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <link name="rh_mftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="rh_MFtip" type="fixed">
    <parent link="rh_mfdistal"/>
    <child link="rh_mftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="rh_rfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="rh_rfknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <geometry name="rh_rfknuckle_collision_geom">
        <cylinder length="0.014" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_RFJ4" type="revolute">
    <parent link="rh_palm"/>
    <child link="rh_rfknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 0 0" xyz="-0.011 0 0.095"/>
    <axis xyz="0 1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_rfproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_rfproximal_visual">
        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="rh_rfproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_RFJ3" type="revolute">
    <parent link="rh_rfknuckle"/>
    <child link="rh_rfproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_rfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_rfmiddle_visual">
        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="rh_rfmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_RFJ2" type="revolute">
    <parent link="rh_rfproximal"/>
    <child link="rh_rfmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_rfdistal">
    <inertial>
      <mass value="0.012"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_rfdistal_visual">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_rfdistal_collision_geom">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_RFJ1" type="revolute">
    <parent link="rh_rfmiddle"/>
    <child link="rh_rfdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_rftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="rh_RFtip" type="fixed">
    <parent link="rh_rfdistal"/>
    <child link="rh_rftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="rh_lfmetacarpal">
    <inertial>
      <origin rpy="0 0.9599 0" xyz="0.0317486764706 0 0.0223529411765"/>
      <mass value="0.030"/>
      <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272"/>
    </inertial>
    <visual>
      <origin rpy="0 0.9599 0" xyz="0 0 0"/>
      <geometry name="rh_lfmetacarpal_visual">
        <mesh filename="meshes/visual/lf_metacarpal/lf_metacarpal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0.9599 0" xyz="0.026986375 0 0.019"/>
      <geometry name="rh_lfmetacarpal_collision_geom">
        <box size="0.018 0.024 0.040"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_LFJ5" type="revolute">
    <parent link="rh_palm"/>
    <child link="rh_lfmetacarpal"/>
    <origin rpy="0 -0.9599 0" xyz="-0.033 0 0.02071"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="0.785398163397" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_lfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="rh_lfknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <geometry name="rh_lfknuckle_collision_geom">
        <cylinder length="0.014" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_LFJ4" type="revolute">
    <parent link="rh_lfmetacarpal"/>
    <child link="rh_lfknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 0.9599 0" xyz="0.05397275 0 0.03779463"/>
    <axis xyz="0 1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_lfproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_lfproximal_visual">
        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="rh_lfproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_LFJ3" type="revolute">
    <parent link="rh_lfknuckle"/>
    <child link="rh_lfproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_lfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_lfmiddle_visual">
        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="rh_lfmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_LFJ2" type="revolute">
    <parent link="rh_lfproximal"/>
    <child link="rh_lfmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_lfdistal">
    <inertial>
      <mass value="0.012"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_lfdistal_visual">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_lfdistal_collision_geom">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_LFJ1" type="revolute">
    <parent link="rh_lfmiddle"/>
    <child link="rh_lfdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rh_lftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="rh_LFtip" type="fixed">
    <parent link="rh_lfdistal"/>
    <child link="rh_lftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="rh_thbase">
    <inertial>
      <mass value="0.010"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.00000016" ixy="0.0" ixz="0.0" iyy="0.00000016" iyz="0.0" izz="0.00000016"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_thbase_visual">
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thbase_material">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_thbase_collision_geom">
        <sphere radius="0.011"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_THJ5" type="revolute">
    <parent link="rh_palm"/>
    <child link="rh_thbase"/>
    <origin rpy="-0.785398163397 0 -1.57079632679" xyz="0.034 -0.00858 0.029"/>
    <axis xyz="0 0 -1"/>
    <limit effort="5.0" lower="-1.0471975512" upper="1.0471975512" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="rh_thproximal">
    <inertial>
      <mass value="0.040"/>
      <origin rpy="0 0 0" xyz="0 0 0.019"/>
      <inertia ixx="0.0000136" ixy="0.0" ixz="0.0" iyy="0.0000136" iyz="0.0" izz="0.00000313"/>
    </inertial>
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry name="rh_thproximal_visual">
        <mesh filename="meshes/visual/th_proximal/th_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thproximal_material">
        <color rgba="0.2 0.2 0.2 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.020"/>
      <geometry name="rh_thproximal_collision_geom">
        <cylinder length="0.018" radius="0.012"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_THJ4" type="revolute">
    <parent link="rh_thbase"/>
    <child link="rh_thproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="3" lower="0.0" upper="1.2217304764" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="rh_thhub">
    <inertial>
      <mass value="0.005"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.0000003"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_thhub_visual">
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thhub_material">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_thhub_collision_geom">
        <sphere radius="0.010"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_THJ3" type="revolute">
    <parent link="rh_thproximal"/>
    <child link="rh_thhub"/>
    <origin rpy="0 0 0" xyz="0 0 0.038"/>
    <axis xyz="0 1 0"/>
    <limit effort="2.0" lower="-0.209439510239" upper="0.209439510239" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="rh_thmiddle">
    <inertial>
      <mass value="0.020"/>
      <origin rpy="0 0 0" xyz="0 0 0.016"/>
      <inertia ixx="0.0000051" ixy="0.0" ixz="0.0" iyy="0.0000051" iyz="0.0" izz="0.00000121"/>
    </inertial>
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry name="rh_thmiddle_visual">
        <mesh filename="meshes/visual/th_middle/th_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thmiddle_material">
        <color rgba="0.2 0.2 0.2 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.012"/>
      <geometry name="rh_thmiddle_collision_geom">
        <cylinder length="0.018" radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.019"/>
      <geometry>
        <sphere radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0.032"/>
      <geometry>
        <cylinder length="0.014" radius="0.010"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_THJ2" type="revolute">
    <parent link="rh_thhub"/>
    <child link="rh_thmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2.0" lower="-0.698131700798" upper="0.698131700798" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <!-- common -->
  <link name="rh_thdistal">
    <inertial>
      <mass value="0.016"/>
      <origin rpy="0 0 0" xyz="0 0 0.01375"/>
      <inertia ixx="0.0000021" ixy="0.0" ixz="0.0" iyy="0.0000022" iyz="0.0" izz="0.000001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_thdistal_visual">
        <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thmiddle_material">
        <color rgba="0.2 0.2 0.2 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rh_thmiddle_collision_geom">
        <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="rh_THJ1" type="revolute">
    <parent link="rh_thmiddle"/>
    <child link="rh_thdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.032"/>
    <axis xyz="1 0 0"/>
    <limit effort="1.0" lower="-0.261799387799" upper="1.57079632679" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="rh_thtip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="rh_thtip" type="fixed">
    <parent link="rh_thdistal"/>
    <child link="rh_thtip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0275"/>
  </joint>
  <link name="lh_forearm">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.09"/>
      <mass value="3.0"/>
      <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry name="lh_forearm_visual">
        <mesh filename="meshes/visual/forearm/forearm_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="light_grey">
        <color rgba="0.90000 0.90000 0.90000 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry name="lh_forearm_collision">
        <mesh filename="meshes/visual/forearm/forearm_collision_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <!-- wrist mount -->
    <collision>
      <origin rpy="0 0.78 0" xyz="0 -0.01 0.181"/>
      <geometry>
        <box size="0.07 0.07 0.07"/>
      </geometry>
    </collision>
    <!-- TODO: Make a decision on whether to add the connector or not -->
    <!--visual>
        <origin rpy="0 -1.57 -1.57" xyz="0.0 0.067 0.0045"/>
        <geometry name="${prefix}cable_extr_visualisation">
          <mesh filename="meshes/visual/cable_connector/cable_connector_base_${hand_version}.dae" scale="0.001 0.001 0.001" />
        </geometry>
      </visual-->
  </link>
  <link name="lh_wrist">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.029"/>
      <mass value="0.1"/>
      <inertia ixx="0.000035" ixy="0.0" ixz="0.0" iyy="0.000064" iyz="0.0" izz="0.0000438"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_wrist_visual">
        <mesh filename="meshes/visual/wrist/wrist_E3M5.dae" scale="-0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="1.5708 1.5708 0" xyz="0 0 0"/>
      <geometry name="lh_wrist_collision_geom">
        <cylinder length="0.030" radius="0.0135"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0.026 0 0.034"/>
      <geometry>
        <cylinder length="0.010" radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="-0.031 0 0.034"/>
      <geometry>
        <cylinder length="0.010" radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 -0.7854 0" xyz="0.021 0 0.011"/>
      <geometry>
        <box size="0.027 0.018 0.010"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0.7854 0" xyz="-0.026 0 0.010"/>
      <geometry>
        <box size="0.027 0.018 0.010"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_WRJ2" type="revolute">
    <parent link="lh_forearm"/>
    <child link="lh_wrist"/>
    <origin rpy="0 0 0" xyz="0 -0.010 0.21301"/>
    <axis xyz="0 -1 0"/>
    <limit effort="10" lower="-0.523598775598" upper="0.174532925199" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_palm">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.035"/>
      <mass value="0.3"/>
      <inertia ixx="0.0003581" ixy="0.0" ixz="0.0" iyy="0.0005287" iyz="0.0" izz="0.000191"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_palm_visual">
        <mesh filename="meshes/visual/palm/palm_E3M5.dae" scale="-0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.011 0.0085 0.038"/>
      <geometry name="lh_palm_collision_geom">
        <box size="0.062 0.007 0.098"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.002 -0.0035 0.038"/>
      <geometry>
        <box size="0.036 0.017 0.098"/>
      </geometry>
    </collision>
    <!-- palm complement below first finger -->
    <collision>
      <origin rpy="0 0 0" xyz="-0.029 -0.0035 0.082"/>
      <geometry>
        <box size="0.026 0.017 0.010"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0.2 0 -0.25" xyz="-0.0265 -0.001 0.070"/>
      <geometry>
        <box size="0.026 0.014 0.018"/>
      </geometry>
    </collision>
    <!-- thumb pulp side -->
    <collision>
      <origin rpy="0 0 0" xyz="-0.0315 -0.0085 0.001"/>
      <geometry>
        <box size="0.021 0.027 0.024"/>
      </geometry>
    </collision>
    <!-- thumb pulp central -->
    <collision>
      <origin rpy="0 0 0.48" xyz="-0.0125 -0.015 0.009"/>
      <geometry>
        <box size="0.022 0.005 0.040"/>
      </geometry>
    </collision>
    <!-- above middle finger-->
    <collision>
      <origin rpy="0 0 0" xyz="-0.011 0 0.089"/>
      <geometry>
        <box size="0.018 0.024 0.004"/>
      </geometry>
    </collision>
    <!-- metacarpal side-->
    <collision>
      <origin rpy="0 0 0" xyz="0.03 0 0.009"/>
      <geometry>
        <box size="0.020 0.024 0.040"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_ee_fixed_joint" type="fixed">
    <parent link="lh_palm"/>
    <child link="lh_manipulator"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.05"/>
  </joint>
  <link name="lh_manipulator"/>
  <joint name="lh_WRJ1" type="revolute">
    <parent link="lh_wrist"/>
    <child link="lh_palm"/>
    <origin rpy="0 0 0" xyz="0 0 0.034"/>
    <axis xyz="1 0 0"/>
    <limit effort="30" lower="-0.698131700798" upper="0.488692190558" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_imu"/>
  <joint name="lh_palm_to_imu" type="fixed">
    <parent link="lh_palm"/>
    <child link="lh_imu"/>
    <origin rpy="-1.5707963 3.141592 0.0" xyz="0.01785 0.00765 0.049125"/>
  </joint>
  <link name="lh_ffknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="lh_ffknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <geometry name="lh_ffknuckle_collision_geom">
        <cylinder length="0.014" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_FFJ4" type="revolute">
    <parent link="lh_palm"/>
    <child link="lh_ffknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 0 0" xyz="-0.033 0 0.095"/>
    <axis xyz="0 1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_ffproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_ffproximal_visual">
        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="lh_ffproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_FFJ3" type="revolute">
    <parent link="lh_ffknuckle"/>
    <child link="lh_ffproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_ffmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_ffmiddle_visual">
        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="lh_ffmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_FFJ2" type="revolute">
    <parent link="lh_ffproximal"/>
    <child link="lh_ffmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_ffdistal">
    <inertial>
      <mass value="0.012"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_ffdistal_visual">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_ffdistal_collision_geom">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_FFJ1" type="revolute">
    <parent link="lh_ffmiddle"/>
    <child link="lh_ffdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_fftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="lh_FFtip" type="fixed">
    <parent link="lh_ffdistal"/>
    <child link="lh_fftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="lh_mfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="lh_mfknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <geometry name="lh_mfknuckle_collision_geom">
        <cylinder length="0.014" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_MFJ4" type="revolute">
    <parent link="lh_palm"/>
    <child link="lh_mfknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 0 0" xyz="-0.011 0 0.099"/>
    <axis xyz="0 1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_mfproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_mfproximal_visual">
        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="lh_mfproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_MFJ3" type="revolute">
    <parent link="lh_mfknuckle"/>
    <child link="lh_mfproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_mfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_mfmiddle_visual">
        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="lh_mfmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_MFJ2" type="revolute">
    <parent link="lh_mfproximal"/>
    <child link="lh_mfmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_mfdistal">
    <inertial>
      <mass value="0.012"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_mfdistal_visual">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_mfdistal_collision_geom">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_MFJ1" type="revolute">
    <parent link="lh_mfmiddle"/>
    <child link="lh_mfdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_mftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="lh_MFtip" type="fixed">
    <parent link="lh_mfdistal"/>
    <child link="lh_mftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="lh_rfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="lh_rfknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <geometry name="lh_rfknuckle_collision_geom">
        <cylinder length="0.014" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_RFJ4" type="revolute">
    <parent link="lh_palm"/>
    <child link="lh_rfknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 0 0" xyz="0.011 0 0.095"/>
    <axis xyz="0 -1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_rfproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_rfproximal_visual">
        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="lh_rfproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_RFJ3" type="revolute">
    <parent link="lh_rfknuckle"/>
    <child link="lh_rfproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_rfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_rfmiddle_visual">
        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="lh_rfmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_RFJ2" type="revolute">
    <parent link="lh_rfproximal"/>
    <child link="lh_rfmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_rfdistal">
    <inertial>
      <mass value="0.012"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_rfdistal_visual">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_rfdistal_collision_geom">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_RFJ1" type="revolute">
    <parent link="lh_rfmiddle"/>
    <child link="lh_rfdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_rftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="lh_RFtip" type="fixed">
    <parent link="lh_rfdistal"/>
    <child link="lh_rftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="lh_lfmetacarpal">
    <inertial>
      <origin rpy="0 -0.9599 0" xyz="-0.0317486764706 0 0.0223529411765"/>
      <mass value="0.030"/>
      <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272"/>
    </inertial>
    <visual>
      <origin rpy="0 -0.9599 0" xyz="0 0 0"/>
      <geometry name="lh_lfmetacarpal_visual">
        <mesh filename="meshes/visual/lf_metacarpal/lf_metacarpal_E3M5.dae" scale="-0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 -0.9599 0" xyz="-0.026986375 0 0.019"/>
      <geometry name="lh_lfmetacarpal_collision_geom">
        <box size="0.018 0.024 0.040"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_LFJ5" type="revolute">
    <parent link="lh_palm"/>
    <child link="lh_lfmetacarpal"/>
    <origin rpy="0 0.9599 0" xyz="0.033 0 0.02071"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="0.785398163397" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_lfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="lh_lfknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <geometry name="lh_lfknuckle_collision_geom">
        <cylinder length="0.014" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_LFJ4" type="revolute">
    <parent link="lh_lfmetacarpal"/>
    <child link="lh_lfknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 -0.9599 0" xyz="-0.05397275 0 0.03779463"/>
    <axis xyz="0 -1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_lfproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_lfproximal_visual">
        <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="lh_lfproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_LFJ3" type="revolute">
    <parent link="lh_lfknuckle"/>
    <child link="lh_lfproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_lfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_lfmiddle_visual">
        <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="lh_lfmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_LFJ2" type="revolute">
    <parent link="lh_lfproximal"/>
    <child link="lh_lfmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_lfdistal">
    <inertial>
      <mass value="0.012"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_lfdistal_visual">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_lfdistal_collision_geom">
        <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_LFJ1" type="revolute">
    <parent link="lh_lfmiddle"/>
    <child link="lh_lfdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_lftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="lh_LFtip" type="fixed">
    <parent link="lh_lfdistal"/>
    <child link="lh_lftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="lh_thbase">
    <inertial>
      <mass value="0.010"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.00000016" ixy="0.0" ixz="0.0" iyy="0.00000016" iyz="0.0" izz="0.00000016"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_thbase_visual">
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thbase_material">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_thbase_collision_geom">
        <sphere radius="0.011"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_THJ5" type="revolute">
    <parent link="lh_palm"/>
    <child link="lh_thbase"/>
    <origin rpy="-0.785398163397 0 1.57079632679" xyz="-0.034 -0.00858 0.029"/>
    <axis xyz="0 0 1"/>
    <limit effort="5.0" lower="-1.0471975512" upper="1.0471975512" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="lh_thproximal">
    <inertial>
      <mass value="0.040"/>
      <origin rpy="0 0 0" xyz="0 0 0.019"/>
      <inertia ixx="0.0000136" ixy="0.0" ixz="0.0" iyy="0.0000136" iyz="0.0" izz="0.00000313"/>
    </inertial>
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry name="lh_thproximal_visual">
        <mesh filename="meshes/visual/th_proximal/th_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thproximal_material">
        <color rgba="0.2 0.2 0.2 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.020"/>
      <geometry name="lh_thproximal_collision_geom">
        <cylinder length="0.018" radius="0.012"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_THJ4" type="revolute">
    <parent link="lh_thbase"/>
    <child link="lh_thproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 -1 0"/>
    <limit effort="3" lower="0.0" upper="1.2217304764" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="lh_thhub">
    <inertial>
      <mass value="0.005"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.0000003"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_thhub_visual">
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thhub_material">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_thhub_collision_geom">
        <sphere radius="0.010"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_THJ3" type="revolute">
    <parent link="lh_thproximal"/>
    <child link="lh_thhub"/>
    <origin rpy="0 0 0" xyz="0 0 0.038"/>
    <axis xyz="0 -1 0"/>
    <limit effort="2.0" lower="-0.209439510239" upper="0.209439510239" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="lh_thmiddle">
    <inertial>
      <mass value="0.020"/>
      <origin rpy="0 0 0" xyz="0 0 0.016"/>
      <inertia ixx="0.0000051" ixy="0.0" ixz="0.0" iyy="0.0000051" iyz="0.0" izz="0.00000121"/>
    </inertial>
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry name="lh_thmiddle_visual">
        <mesh filename="meshes/visual/th_middle/th_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thmiddle_material">
        <color rgba="0.2 0.2 0.2 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.012"/>
      <geometry name="lh_thmiddle_collision_geom">
        <cylinder length="0.018" radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.019"/>
      <geometry>
        <sphere radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0.032"/>
      <geometry>
        <cylinder length="0.014" radius="0.010"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_THJ2" type="revolute">
    <parent link="lh_thhub"/>
    <child link="lh_thmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2.0" lower="-0.698131700798" upper="0.698131700798" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lh_thdistal">
    <inertial>
      <mass value="0.016"/>
      <origin rpy="0 0 0" xyz="0 0 0.01375"/>
      <inertia ixx="0.0000021" ixy="0.0" ixz="0.0" iyy="0.0000022" iyz="0.0" izz="0.000001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_thdistal_visual">
        <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="shadow_thmiddle_material">
        <color rgba="0.2 0.2 0.2 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lh_thmiddle_collision_geom">
        <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="lh_THJ1" type="revolute">
    <parent link="lh_thmiddle"/>
    <child link="lh_thdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.032"/>
    <axis xyz="1 0 0"/>
    <limit effort="1.0" lower="-0.261799387799" upper="1.57079632679" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="lh_thtip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="lh_thtip" type="fixed">
    <parent link="lh_thdistal"/>
    <child link="lh_thtip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0275"/>
  </joint>
  <joint name="right_hand_to_left_hand" type="fixed">
    <parent link="rh_forearm"/>
    <child link="lh_forearm"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.4 0.0 0.0"/>
  </joint>
</robot>

