text: <?xml version="1.0"?>
  <!--
    The file is converted from allegro_hand_description_left.xacro from the
    unofficial ROS package of Allegro Hand (https://github.com/felixduvallet/
    allegro-hand-ros/tree/master/allegro_hand_description). The conversion is
    applied using the ROS package xacro to convert into urdf files. The model
    files (.obj files and .mtl files) are converted from the .STL files from the
    same source. The physical parameters of the model in the cited unofficial
    fork of the Allegro hand have non-physical values. More precisely, many of
    the inertia matrices are not SPD. Therefore we recomputed all the inertia
    matrices for this URDF model in Drake. These values are estimated from the
    provided geometry and using a constant density approximation on each
    component. We used the best available value of mass available to us. Joint
    damping values are estimated based on the expected angular velocity of each
    joint and using a typical load of about 200 gr being held by the hand. This
    allows us to estimate a typical torque at the joints which, together with a
    nominal value of angular velocity, allows us to estimate a reasonable
    magnitude for joint damping. It is worth noting that the unofficial version
    of these files were providing non-physical values as much as 300 times
    larger. The effort limits of the joints are justified to 0.7 Nm according to
    the manufacturer's specs (http://www.simlab.co.kr/Allegro-Hand.htm#
    Specifications). The collision geometry for link_13 (thumb base) has been
    omitted in this version. It frequently led to meaningless collisions with
    other hand geometries but its omission is justified because it is small
    enough that its removal is unlikely to cause us to miss meaningful
    collisions.
  -->
  <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_left">
    <!-- Base link -->
    <link name="hand_root">
      <origin xyz="0 0 0"/>
    </link>
    <joint name="root_to_base" type="fixed">
      <parent link="hand_root"/>
      <child link="palm_link"/>
      <origin xyz="0 0 0.095"/>
    </joint>
    <!-- PALM -->
    <link name="palm_link">
      <visual>
        <geometry>
          <mesh filename="../meshes/base_link_left.obj"/>
        </geometry>
        <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
        <material name="black">
          <color rgba="0.2 0.2 0.2 1"/>
        </material>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
        <geometry>
          <box size="0.0408 0.1130 0.095"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <mass value="0.4154"/>
        <inertia ixx="2.089e-03" ixy="-0.0036e-03" ixz="0.2233e-03" iyy="1.829e-03" iyz="-0.018e-03" izz="0.4825e-03"/>
      </inertial>
    </link>
    <!-- [LINK 0, 4, 8] -->
    <link name="link_8">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_0.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0164"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.0082"/>
      </collision>
      <inertial>
        <mass value="0.0119"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
      </inertial>
    </link>
    <joint name="joint_8" type="revolute">
      <axis xyz="0 0 -1"/>
      <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7"/>
      <parent link="palm_link"/>
      <child link="link_8"/>
      <origin rpy="0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
      <dynamics damping="1.5e-2" friction="10"/>
    </joint>
    <transmission name="joint_8_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_8_motor"/>
      <joint name="joint_8"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 1, 5, 9] -->
    <link name="link_9">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_1.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.054"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.027"/>
      </collision>
      <inertial>
        <mass value="0.065"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="7.192e-05" ixy="0" ixz="0" iyy="7.438e-05" iyz="7.322e-07" izz="5.406e-06"/>
      </inertial>
    </link>
    <joint name="joint_9" type="revolute">
      <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7"/>
      <axis xyz="0 1 0"/>
      <parent link="link_8"/>
      <child link="link_9"/>
      <origin xyz="0 0 0.0164"/>
      <dynamics damping="1.5e-2" friction="5"/>
    </joint>
    <transmission name="joint_9_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_9_motor"/>
      <joint name="joint_9"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 2, 6, 10]-->
    <link name="link_10">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_2.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0384"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.0192"/>
      </collision>
      <inertial>
        <mass value="0.0355"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
      </inertial>
    </link>
    <joint name="joint_10" type="revolute">
      <axis xyz="0 1 0"/>
      <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7"/>
      <parent link="link_9"/>
      <child link="link_10"/>
      <origin xyz="0 0 0.054"/>
      <dynamics damping="1.5e-2" friction="10"/>
    </joint>
    <transmission name="joint_10_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_10_motor"/>
      <joint name="joint_10"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 3, 7, 11] -->
    <link name="link_11">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_3.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0267"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.01335"/>
      </collision>
      <inertial>
        <mass value="0.0096"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
      </inertial>
    </link>
    <joint name="joint_11" type="revolute">
      <axis xyz="0 1 0"/>
      <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7"/>
      <parent link="link_10"/>
      <child link="link_11"/>
      <origin xyz="0 0 0.0384"/>
      <dynamics damping="1.5e-2" friction="12"/>
    </joint>
    <transmission name="joint_11_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_11_motor"/>
      <joint name="joint_11"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [FINGER TIP] -->
    <link name="link_11_tip">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_3.0_tip.obj"/>
        </geometry>
        <material name="white">
          <color rgba=".9 .9 .9 1"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <sphere radius="0.012"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.0168"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
      </inertial>
    </link>
    <joint name="joint_11_tip" type="fixed">
      <parent link="link_11"/>
      <child link="link_11_tip"/>
      <origin rpy="0 0 0" xyz="0 0 0.0267"/>
    </joint>
    <!-- [LINK 0, 4, 8] -->
    <link name="link_4">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_0.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0164"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.0082"/>
      </collision>
      <inertial>
        <mass value="0.0119"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
      </inertial>
    </link>
    <joint name="joint_4" type="revolute">
      <axis xyz="0 0 -1"/>
      <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7"/>
      <parent link="palm_link"/>
      <child link="link_4"/>
      <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
      <dynamics damping="1.5e-2" friction="10"/>
    </joint>
    <transmission name="joint_4_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_4_motor"/>
      <joint name="joint_4"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 1, 5, 9] -->
    <link name="link_5">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_1.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.054"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.027"/>
      </collision>
      <inertial>
        <mass value="0.065"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
      </inertial>
    </link>
    <joint name="joint_5" type="revolute">
      <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7"/>
      <axis xyz="0 1 0"/>
      <parent link="link_4"/>
      <child link="link_5"/>
      <origin xyz="0 0 0.0164"/>
      <dynamics damping="1.5e-2" friction="5"/>
    </joint>
    <transmission name="joint_5_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_5_motor"/>
      <joint name="joint_5"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 2, 6, 10]-->
    <link name="link_6">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_2.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0384"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.0192"/>
      </collision>
      <inertial>
        <mass value="0.0355"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
      </inertial>
    </link>
    <joint name="joint_6" type="revolute">
      <axis xyz="0 1 0"/>
      <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7"/>
      <parent link="link_5"/>
      <child link="link_6"/>
      <origin xyz="0 0 0.054"/>
      <dynamics damping="1.5e-2" friction="10"/>
    </joint>
    <transmission name="joint_6_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_6_motor"/>
      <joint name="joint_6"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 3, 7, 11] -->
    <link name="link_7">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_3.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0267"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.01335"/>
      </collision>
      <inertial>
        <mass value="0.0096"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
      </inertial>
    </link>
    <joint name="joint_7" type="revolute">
      <axis xyz="0 1 0"/>
      <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7"/>
      <parent link="link_6"/>
      <child link="link_7"/>
      <origin xyz="0 0 0.0384"/>
      <dynamics damping="1.5e-2" friction="12"/>
    </joint>
    <transmission name="joint_7_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_7_motor"/>
      <joint name="joint_7"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [FINGER TIP] -->
    <link name="link_7_tip">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_3.0_tip.obj"/>
        </geometry>
        <material name="white">
          <color rgba=".9 .9 .9 1"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <sphere radius="0.012"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.0168"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
      </inertial>
    </link>
    <joint name="joint_7_tip" type="fixed">
      <parent link="link_7"/>
      <child link="link_7_tip"/>
      <origin rpy="0 0 0" xyz="0 0 0.0267"/>
    </joint>
    <!-- [LINK 0, 4, 8] -->
    <link name="link_0">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_0.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0164"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.0082"/>
      </collision>
      <inertial>
        <mass value="0.0119"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
      </inertial>
    </link>
    <joint name="joint_0" type="revolute">
      <axis xyz="0 0 -1"/>
      <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7"/>
      <parent link="palm_link"/>
      <child link="link_0"/>
      <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
      <dynamics damping="1.5e-2" friction="10"/>
    </joint>
    <transmission name="joint_0_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_0_motor"/>
      <joint name="joint_0"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 1, 5, 9] -->
    <link name="link_1">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_1.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.054"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.027"/>
      </collision>
      <inertial>
        <mass value="0.065"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
      </inertial>
    </link>
    <joint name="joint_1" type="revolute">
      <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7"/>
      <axis xyz="0 1 0"/>
      <parent link="link_0"/>
      <child link="link_1"/>
      <origin xyz="0 0 0.0164"/>
      <dynamics damping="1.5e-2" friction="5"/>
    </joint>
    <transmission name="joint_1_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_1_motor"/>
      <joint name="joint_1"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 2, 6, 10]-->
    <link name="link_2">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_2.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0384"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.0192"/>
      </collision>
      <inertial>
        <mass value="0.0355"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
      </inertial>
    </link>
    <joint name="joint_2" type="revolute">
      <axis xyz="0 1 0"/>
      <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7"/>
      <parent link="link_1"/>
      <child link="link_2"/>
      <origin xyz="0 0 0.054"/>
      <dynamics damping="1.5e-2" friction="10"/>
    </joint>
    <transmission name="joint_2_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_2_motor"/>
      <joint name="joint_2"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 3, 7, 11] -->
    <link name="link_3">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_3.0.obj"/>
        </geometry>
        <material name="black"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0267"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.01335"/>
      </collision>
      <inertial>
        <mass value="0.0096"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
      </inertial>
    </link>
    <joint name="joint_3" type="revolute">
      <axis xyz="0 1 0"/>
      <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7"/>
      <parent link="link_2"/>
      <child link="link_3"/>
      <origin xyz="0 0 0.0384"/>
      <dynamics damping="1.5e-2" friction="12"/>
    </joint>
    <transmission name="joint_3_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_3_motor"/>
      <joint name="joint_3"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [FINGER TIP] -->
    <link name="link_3_tip">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_3.0_tip.obj"/>
        </geometry>
        <material name="white">
          <color rgba=".9 .9 .9 1"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <sphere radius="0.012"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.0168"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
      </inertial>
    </link>
    <joint name="joint_3_tip" type="fixed">
      <parent link="link_3"/>
      <child link="link_3_tip"/>
      <origin rpy="0 0 0" xyz="0 0 0.0267"/>
    </joint>
    <!-- [LINK 12] -->
    <link name="link_12">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_12.0_left.obj"/>
        </geometry>
        <material name="black">
          <color rgba=".2 .2 .2 1"/>
        </material>
        <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
      </visual>
      <collision>
        <geometry>
          <box size="0.0358 0.034 0.0455"/>
        </geometry>
        <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
      </collision>
      <inertial>
        <mass value="0.0176"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="8.13883e-06" ixy="-2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="1.46267e-06" izz="1.00171e-05"/>
      </inertial>
    </link>
    <joint name="joint_12" type="revolute">
      <axis xyz="1 0 0"/>
      <limit effort="0.7" lower="0.263" upper="1.396" velocity="7"/>
      <parent link="palm_link"/>
      <child link="link_12"/>
      <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
      <dynamics damping="1.5e-2" friction="10"/>
    </joint>
    <transmission name="joint_12_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_12_motor"/>
      <joint name="joint_12"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 13] -->
    <link name="link_13">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_13.0.obj"/>
        </geometry>
        <material name="black">
          <color rgba=".2 .2 .2 1"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0177"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.00885"/>
      </collision>
      <inertial>
        <mass value="0.0119"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
      </inertial>
    </link>
    <joint name="joint_13" type="revolute">
      <axis xyz="0 0 -1"/>
      <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7"/>
      <parent link="link_12"/>
      <child link="link_13"/>
      <origin xyz="-0.027 -0.005 0.0399"/>
      <dynamics damping="1.5e-2" friction="5"/>
    </joint>
    <transmission name="joint_13_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_13_motor"/>
      <joint name="joint_13"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 14] -->
    <link name="link_14">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_14.0.obj"/>
        </geometry>
        <material name="black">
                  </material>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0514"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.0257"/>
      </collision>
      <inertial>
        <mass value="0.038"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
      </inertial>
    </link>
    <joint name="joint_14" type="revolute">
      <axis xyz="0 1 0"/>
      <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7"/>
      <parent link="link_13"/>
      <child link="link_14"/>
      <origin xyz="0 0 0.0177"/>
      <dynamics damping="1.5e-2" friction="10"/>
    </joint>
    <transmission name="joint_14_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_14_motor"/>
      <joint name="joint_14"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [LINK 15] -->
    <link name="link_15">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_15.0.obj"/>
        </geometry>
        <material name="black">
                  </material>
      </visual>
      <collision>
        <geometry>
          <box size="0.0196 0.0275 0.0423"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0.02115"/>
      </collision>
      <inertial>
        <mass value="0.0388"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
      </inertial>
    </link>
    <joint name="joint_15" type="revolute">
      <axis xyz="0 1 0"/>
      <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7"/>
      <parent link="link_14"/>
      <child link="link_15"/>
      <origin xyz="0 0 0.0514"/>
      <dynamics damping="1.5e-2" friction="12"/>
    </joint>
    <transmission name="joint_15_trans" type="transmission_interface/SimpleTransmission">
      <actuator name="joint_15_motor"/>
      <joint name="joint_15"/>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1</motorTorqueConstant>
    </transmission>
    <!-- [FINGER TIP] -->
    <link name="link_15_tip">
      <visual>
        <geometry>
          <mesh filename="../meshes/link_15.0_tip.obj"/>
        </geometry>
        <material name="white">
          <color rgba=".9 .9 .9 1"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <sphere radius="0.012"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0 0 0"/>
      </collision>
      <inertial>
        <mass value="0.0168"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
      </inertial>
    </link>
    <joint name="joint_15_tip" type="fixed">
      <parent link="link_15"/>
      <child link="link_15_tip"/>
      <origin rpy="0 0 0" xyz="0 0 0.0423"/>
    </joint>
  </robot>
  