<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from allegro_hand_description_right.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="allegro_hand_right" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!--
rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch 
-->
  <!-- ======================== BASE PARAMS ========================= -->
  <!-- ======================== FINGER PARAMS ======================== -->
  <!-- full height from joint to tip. when used,
the radius of the finger tip sphere will be subtracted
and one fixed link will be added for the tip. -->
  <!--0.0435,   0.044981-->
  <!--0.002298-->
  <!--0.002298-->
  <!-- ========================= THUMB PARAMS ========================= -->
  <!-- ========================= LIMITS ========================= -->
  <!-- ============================================================================= -->
  <!-- ============================================================================= -->
  <!-- ============================================================================= -->
  <!-- BASE -->
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/base_link.STL"/>
      </geometry>
      <!-- LEFT -->
      <!-- <origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/> -->
      <!-- RIGHT -->
      <origin rpy="0 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>
  </link>
  <!-- ============================================================================= -->
  <!-- FINGERS -->
  <!-- RIGHT HAND due to which finger is number 0 -->
  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
  <link name="link_0.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_0.0.STL"/>
      </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>
  </link>
  <joint name="joint_0.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
    <parent link="base_link"/>
    <child link="link_0.0"/>
    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
  </joint>
  <link name="link_1.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_1.0.STL"/>
      </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>
  </link>
  <joint name="joint_1.0" type="revolute">
    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
    <axis xyz="0 1 0"/>
    <parent link="link_0.0"/>
    <child link="link_1.0"/>
    <origin xyz="0 0 0.0164"/>
  </joint>
  <link name="link_2.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_2.0.STL"/>
      </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>
  </link>
  <joint name="joint_2.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
    <parent link="link_1.0"/>
    <child link="link_2.0"/>
    <origin xyz="0 0 0.054"/>
  </joint>
  <link name="link_3.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_3.0.STL"/>
      </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>
  </link>
  <joint name="joint_3.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
    <parent link="link_2.0"/>
    <child link="link_3.0"/>
    <origin xyz="0 0 0.0384"/>
  </joint>
  <link name="link_3.0_tip">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_3.0_tip.STL"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.012"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_3.0_tip" type="fixed">
    <parent link="link_3.0"/>
    <child link="link_3.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <link name="link_4.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_0.0.STL"/>
      </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>
  </link>
  <joint name="joint_4.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
    <parent link="base_link"/>
    <child link="link_4.0"/>
    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
  </joint>
  <link name="link_5.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_1.0.STL"/>
      </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>
  </link>
  <joint name="joint_5.0" type="revolute">
    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
    <axis xyz="0 1 0"/>
    <parent link="link_4.0"/>
    <child link="link_5.0"/>
    <origin xyz="0 0 0.0164"/>
  </joint>
  <link name="link_6.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_2.0.STL"/>
      </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>
  </link>
  <joint name="joint_6.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
    <parent link="link_5.0"/>
    <child link="link_6.0"/>
    <origin xyz="0 0 0.054"/>
  </joint>
  <link name="link_7.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_3.0.STL"/>
      </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>
  </link>
  <joint name="joint_7.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
    <parent link="link_6.0"/>
    <child link="link_7.0"/>
    <origin xyz="0 0 0.0384"/>
  </joint>
  <link name="link_7.0_tip">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_3.0_tip.STL"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.012"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_7.0_tip" type="fixed">
    <parent link="link_7.0"/>
    <child link="link_7.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <link name="link_8.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_0.0.STL"/>
      </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>
  </link>
  <joint name="joint_8.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
    <parent link="base_link"/>
    <child link="link_8.0"/>
    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
  </joint>
  <link name="link_9.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_1.0.STL"/>
      </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>
  </link>
  <joint name="joint_9.0" type="revolute">
    <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
    <axis xyz="0 1 0"/>
    <parent link="link_8.0"/>
    <child link="link_9.0"/>
    <origin xyz="0 0 0.0164"/>
  </joint>
  <link name="link_10.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_2.0.STL"/>
      </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>
  </link>
  <joint name="joint_10.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
    <parent link="link_9.0"/>
    <child link="link_10.0"/>
    <origin xyz="0 0 0.054"/>
  </joint>
  <link name="link_11.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_3.0.STL"/>
      </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>
  </link>
  <joint name="joint_11.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
    <parent link="link_10.0"/>
    <child link="link_11.0"/>
    <origin xyz="0 0 0.0384"/>
  </joint>
  <link name="link_11.0_tip">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_3.0_tip.STL"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.012"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_11.0_tip" type="fixed">
    <parent link="link_11.0"/>
    <child link="link_11.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <!-- THUMB -->
  <link name="link_12.0">
    <visual>
      <geometry>
        <!-- RIGHT -->
        <mesh filename="description/allegro_hand_description/meshes/link_12.0_right.STL"/>
        <!-- LEFT -->
        <!-- <mesh filename="description/allegro_hand_description/meshes/link_12.0_left.STL" /> -->
      </geometry>
      <material name="black">
        <color rgba=".2 .2 .2 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.0358 0.034 0.0455"/>
      </geometry>
      <!-- RIGHT -->
      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
      <!-- LEFT -->
      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${-.018/2} ${.029/2}"/> -->
    </collision>
  </link>
  <joint name="joint_12.0" type="revolute">
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
    <parent link="base_link"/>
    <child link="link_12.0"/>
    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
  </joint>
  <link name="link_13.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_13.0.STL"/>
      </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>
  </link>
  <joint name="joint_13.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
    <parent link="link_12.0"/>
    <child link="link_13.0"/>
    <!-- RIGHT -->
    <origin xyz="-0.027 0.005 0.0399"/>
    <!-- LEFT -->
    <!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
  </joint>
  <link name="link_14.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_14.0.STL"/>
      </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>
  </link>
  <joint name="joint_14.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
    <parent link="link_13.0"/>
    <child link="link_14.0"/>
    <origin xyz="0 0 0.0177"/>
  </joint>
  <link name="link_15.0">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_15.0.STL"/>
      </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>
  </link>
  <joint name="joint_15.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
    <parent link="link_14.0"/>
    <child link="link_15.0"/>
    <origin xyz="0 0 0.0514"/>
  </joint>
  <link name="link_15.0_tip">
    <visual>
      <geometry>
        <mesh filename="description/allegro_hand_description/meshes/link_15.0_tip.STL"/>
      </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>
  </link>
  <joint name="joint_15.0_tip" type="fixed">
    <parent link="link_15.0"/>
    <child link="link_15.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
    <!--0.0267000000000005-->
  </joint>
  <!--
<xacro:thumb_left 
	finger_num=			"3" 
	offset_origin_x=	"-0.0182"	
	offset_origin_y=	"-0.019333" 
	offset_origin_z=	"-0.045987" 
	
	
	finger_angle_r=		"${90*DEG2RAD}"
	finger_angle_p=		"-${95*DEG2RAD}"	
	finger_angle_y=		"${90*DEG2RAD}"
/>
-->
  <!-- ============================================================================= -->
  <!-- ============================================================================= -->
  <!-- ============================================================================= -->
  <!-- THUMB MACRO -->
  <!-- END THUMB MACRO -->
  <!-- THREE FINGER MACRO -->
  <!-- [[END]] THREE FINGER MACRO -->
</robot>
