<?xml version="0.0" ?>
<robot name="mano">


  <material name="hand_color">
    <color rgba="0.91796875 0.765 0.5234 1"/>
  </material>
  <link name="world">  </link>

  <joint name="world_to_base" type="fixed">
    <axis xyz="0 0 0"/>
    <origin xyz="0.0 0.0 0.0"/>
    <parent link="world"/>
    <child link="sliderBar"/>
  </joint>

  <link name="sliderBar">
    <inertial>
      <mass value="0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

    <!--
      Palm
    -->
    <!-- Palm -->
    <link name="palm">
		<inertial>
			<origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/>
			<mass value="0.25042"/>
			<inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/>
		</inertial>
    </link>

    <link name="link_palm_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_palm_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_palm_rx">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_palm_ry">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_palm_rz">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <visual>
            <origin rpy="0 0 0.0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="meshes/palm_mean.stl" scale="1 1 1"/>
            </geometry>
            <material name="hand_color"/>
        </visual>
        <collision>
            <origin rpy="0 0 0.2" xyz="-0.03 0 0"/>
            <geometry>
                <box size="0.08780 0.027 0.07"/>
            </geometry>
            <material name="">
              <contact name="finger"/>
            </material>
        </collision>
        <collision>
            <origin rpy="-2.61505 0.70030 -1.87000" xyz="-0.01187 -0.00708 0.01218"/>
            <geometry>
                <capsule length="0.03684" radius="0.015"/>
            </geometry>
            <material name="">
              <contact name="finger"/>
            </material>
        </collision>
    </link>
   <joint name="WRJ0x" type="prismatic">
        <parent link="sliderBar"/>
        <child link="palm"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="1 0 0"/>
        <limit effort="100.0" lower="-2" upper="2" />
        <dynamics damping="10.0" friction="0.0001"/>
    </joint>
    <joint name="WRJ0y" type="prismatic">
        <parent link="palm"/>
        <child link="link_palm_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="100.0" lower="-2" upper="2" />
        <dynamics damping="10.0" friction="0.0001"/>
    </joint>
    <joint name="WRJ0z" type="prismatic">
        <parent link="link_palm_y"/>
        <child link="link_palm_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="100.0" lower="-2" upper="2"/>
        <dynamics damping="10.0" friction="0.0001"/>
    </joint>
    <joint name="WRJ0rx" type="revolute">
        <parent link="link_palm_z"/>
        <child link="link_palm_rx"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-3.14" upper="3.14" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="WRJ0ry" type="revolute">
        <parent link="link_palm_rx"/>
        <child link="link_palm_ry"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-3.14" upper="3.14"  />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="WRJ0rz" type="revolute">
        <parent link="link_palm_ry"/>
        <child link="link_palm_rz"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-3.14" upper="3.14"  />
        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>


     <!-- FF -->
    <link name="fffixed">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.0"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <!-- Fix Finger joint -->
    <joint name="Palm_FFJ2" type="fixed">
        <parent link="link_palm_rz"/>
        <child link="fffixed"/>
        <origin xyz="0.0 0.0 0.0"/>
    </joint>


    <link name="ffproximal">
		<inertial>
			<origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
			<mass value="0.00845"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_ff_pm_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_ff_pm_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="2.0759187  1.43150624 1.94972864" xyz="-0.01633945  0.00200468  0.00110853"/>
          <geometry>
            <capsule length="0.0329984988704395" radius="0.009"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/ffprox_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- FF2 proximal joint -->
    <joint name="FFJ2" type="revolute">
        <parent link="fffixed"/>
        <child link="ffproximal"/>
        <origin xyz="-0.0880972 -0.00520036 0.020686"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="FFJ2_y" type="revolute">
        <parent link="ffproximal"/>
        <child link="link_ff_pm_y"/>
        <origin xyz="0 0 0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.8" upper="0.8" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="FFJ2_z" type="revolute">
        <parent link="link_ff_pm_y"/>
        <child link="link_ff_pm_z"/>
        <origin xyz="0 0 0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.0" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

  <link name="ffmiddle_fixed">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.0"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="ffmiddle">
		<inertial>
			<origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
			<mass value="0.00413"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_ff_md_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_ff_md_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="-1.48313839 1.51203433 -1.42475203" xyz="-1.10779554e-02 -6.49210764e-04 -5.70546836e-05"/>
          <geometry>
            <capsule length="0.02219421770877059" radius="0.0075"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/ffmiddle_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- FF1 joint -->
    <joint name="FFJ1_f" type="fixed">
        <parent link="link_ff_pm_z"/>
        <child link="ffmiddle_fixed"/>
        <origin xyz="-0.0326789 0.00400935 0.00221706"/>
        <axis xyz="1 0 0"/>
    </joint>
    <joint name="FFJ1" type="revolute">
        <parent link="ffmiddle_fixed"/>
        <child link="ffmiddle"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="FFJ1_y" type="revolute">
        <parent link="ffmiddle"/>
        <child link="link_ff_md_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="FFJ1_z" type="revolute">
        <parent link="link_ff_md_y"/>
        <child link="link_ff_md_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.5000" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="ffdistal">
		<inertial>
			<origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
			<mass value="0.00293"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_ff_dd_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_ff_dd_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="2.96610898 1.39582282 2.93259132 " xyz="-0.01163138  0.00035898  0.00202463"/>
          <geometry>
            <capsule length="0.015" radius="0.0075"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/ffdist_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- FF1 joint -->
    <joint name="FFJ0" type="revolute">
        <parent link="link_ff_md_z"/>
        <child link="ffdistal"/>
        <origin xyz="-0.0221559 -0.00129842 -0.000114109"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="FFJ0_y" type="revolute">
        <parent link="ffdistal"/>
        <child link="link_ff_dd_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="FFJ0_z" type="revolute">
        <parent link="link_ff_dd_y"/>
        <child link="link_ff_dd_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.000" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="link_fftip">
                <inertial>
                    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
                    <mass value="0.00000"/>
                    <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
                </inertial>
    </link>
        <!-- Fix Finger joint -->
    <joint name="FFTip" type="fixed">
            <parent link="link_ff_dd_z"/>
            <child link="link_fftip"/>
            <origin xyz="-0.02326277  0.00071796  0.00404926"/>
    </joint>

    <!-- MF -->
    <link name="mffixed">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.0"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <!-- Fix Finger joint -->
    <joint name="Palm_MFJ2" type="fixed">
        <parent link="link_palm_rz"/>
        <child link="mffixed"/>
        <origin xyz="0.0 0.0 0.0"/>
    </joint>


    <link name="mfproximal">
		<inertial>
			<origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
			<mass value="0.00996"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_mf_pm_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_mf_pm_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="0.32118629 1.38392244 0.26686409" xyz="-0.01559134  0.00093066 -0.00279725"/>
          <geometry>
            <capsule length="0.031735191602453826" radius="0.009"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/mfprox_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>

    </link>
    <!-- MF2 proximal joint -->
    <joint name="MFJ2" type="revolute">
        <parent link="mffixed"/>
        <child link="mfproximal"/>
        <origin xyz="-0.0946604 -0.00147896 -0.00335754"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="MFJ2_y" type="revolute">
        <parent link="mfproximal"/>
        <child link="link_mf_pm_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.8" upper="0.8" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="MFJ2_z" type="revolute">
        <parent link="link_mf_pm_y"/>
        <child link="link_mf_pm_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.0" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="mfmiddle">
		<inertial>
			<origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
			<mass value="0.00400"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_mf_md_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_mf_md_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    <collision>
      <origin rpy="-0.30736925 1.39204219 -0.25742004" xyz="-0.01145232 -0.00062605 -0.00197226"/>
      <geometry>
        <capsule length="0.023275522107771795" radius="0.0075"/>
      </geometry>
      <material name="">
        <contact name="finger"/>
      </material>
   </collision>
   <visual>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <geometry>
           <mesh filename="meshes/mfmiddle_mean.stl" scale="1 1 1"/>
       </geometry>
       <material name="hand_color"/>
   </visual>
    </link>
    <!-- MF1 joint -->
    <joint name="MFJ1" type="revolute">
        <parent link="link_mf_pm_z"/>
        <child link="mfmiddle"/>
        <origin xyz="-0.0311827 0.00186133 -0.00559451"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="MFJ1_y" type="revolute">
        <parent link="mfmiddle"/>
        <child link="link_mf_md_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="MFJ1_z" type="revolute">
        <parent link="link_mf_md_y"/>
        <child link="link_mf_md_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.000" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="mfdistal">
		<inertial>
			<origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
			<mass value="0.00289"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_mf_dd_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_mf_dd_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="-0.21855015 1.36348088  -0.17760409" xyz="-0.01551503 -0.00070755 -0.00318577"/>
          <geometry>
            <capsule length="0.01" radius="0.0075"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/mfdist_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- MF0 joint -->
    <joint name="MFJ0" type="revolute">
        <parent link="link_mf_md_z"/>
        <child link="mfdistal"/>
        <origin xyz="-0.0229046 -0.0012521 -0.00394452"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="MFJ0_y" type="revolute">
        <parent link="mfdistal"/>
        <child link="link_mf_dd_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="MFJ0_z" type="revolute">
        <parent link="link_mf_dd_y"/>
        <child link="link_mf_dd_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.000" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="link_mftip">
            <inertial>
                <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
                <mass value="0.00000"/>
                <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
            </inertial>
    </link>
        <!-- Fix Finger joint -->
    <joint name="MFTip" type="fixed">
            <parent link="link_mf_dd_z"/>
            <child link="link_mftip"/>
            <origin xyz="-0.03103006 -0.0014151  -0.00637153"/>

    </joint>

    <!-- RF -->
    <link name="rffixed">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.0"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>

    <!-- Fix Finger joint -->
    <joint name="Palm_RFJ2" type="fixed">
        <parent link="link_palm_rz"/>
        <child link="rffixed"/>
        <origin xyz="0.0 0.0 0.0"/>
    </joint>


    <link name="rfproximal">
		<inertial>
			<origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
			<mass value="0.00725"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_rf_pm_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_rf_pm_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy=" 0.38516311 1.37888284 0.31878467" xyz="-0.01415714  0.0010335  -0.00254927"/>
          <geometry>
            <capsule length="0.028843811919740826" radius="0.009"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/rfprox_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- RF2 proximal joint -->
    <joint name="RFJ2" type="revolute">
        <parent link="rffixed"/>
        <child link="rfproximal"/>
        <origin xyz="-0.0817355 -0.00395742 -0.0266732"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="RFJ2_y" type="revolute">
        <parent link="rfproximal"/>
        <child link="link_rf_pm_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.8" upper="0.8" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="RFJ2_z" type="revolute">
        <parent link="link_rf_pm_y"/>
        <child link="link_rf_pm_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.0" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="rfmiddle">
		<inertial>
			<origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
			<mass value="0.00487"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_rf_md_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_rf_md_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="-0.21763357 1.24988512 -0.15729772" xyz="-0.01176025 -0.00084406 -0.00381691"/>
          <geometry>
            <capsule length="0.024785865310763495" radius="0.0075"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/rfmiddle_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- RF1 joint -->
    <joint name="RFJ1" type="revolute">
        <parent link="link_rf_pm_z"/>
        <child link="rfmiddle"/>
        <origin xyz="-0.0283143 0.00206701 -0.00509854"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="RFJ1_y" type="revolute">
        <parent link="rfmiddle"/>
        <child link="link_rf_md_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="RFJ1_z" type="revolute">
        <parent link="link_rf_md_y"/>
        <child link="link_rf_md_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.000" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="rfdistal">
		<inertial>
			<origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
			<mass value="0.00272"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_rf_dd_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_rf_dd_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="0.43325752 1.27456581 0.32302802" xyz="-0.01460212  0.00187106 -0.00404494"/>
          <geometry>
            <capsule length="0.01" radius="0.0075"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
         <origin rpy="0 0 0.0" xyz="0 0 0"/>
         <geometry>
             <mesh filename="meshes/rfdist_mean.stl" scale="1 1 1"/>
         </geometry>
         <material name="hand_color"/>
       </visual>
    </link>
    <!-- RF0 joint -->
    <joint name="RFJ0" type="revolute">
        <parent link="link_rf_md_z"/>
        <child link="rfdistal"/>
        <origin xyz="-0.0235205 -0.00168811 -0.00763382"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="RFJ0_y" type="revolute">
        <parent link="rfdistal"/>
        <child link="link_rf_dd_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="RFJ0_z" type="revolute">
        <parent link="link_rf_dd_y"/>
        <child link="link_rf_dd_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.000" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="link_rftip">
            <inertial>
                <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
                <mass value="0.00000"/>
                <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
            </inertial>
    </link>
        <!-- Fix Finger joint -->
    <joint name="RFTip" type="fixed">
            <parent link="link_rf_dd_z"/>
            <child link="link_rftip"/>
            <origin xyz="-0.02920424  0.00374213 -0.00808987"/>
    </joint>

     <!-- LF -->
    <link name="lffixed">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.0"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <!-- Fix Finger joint -->
    <joint name="Palm_LFJ2" type="fixed">
        <parent link="link_palm_rz"/>
        <child link="lffixed"/>
        <origin xyz="0.0 0.0 0.0"/>
    </joint>


    <link name="lfproximal">
		<inertial>
			<origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
			<mass value="0.00416"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_lf_pm_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_lf_pm_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="0.00494643 0.93721839 0.00250398" xyz="-8.50720331e-03  3.09124589e-05 -6.24939241e-03"/>
          <geometry>
            <capsule length="0.0211119273571839" radius="0.009"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/lfprox_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- LF2 proximal joint -->
    <joint name="LFJ2" type="revolute">
        <parent link="lffixed"/>
        <child link="lfproximal"/>
        <origin xyz="-0.0687869 -0.00994033 -0.0432093"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="LFJ2_y" type="revolute">
        <parent link="lfproximal"/>
        <child link="link_lf_pm_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.8" upper="0.8" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="LFJ2_z" type="revolute">
        <parent link="link_lf_pm_y"/>
        <child link="link_lf_pm_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000"  lower="-0.0" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="lfmiddle">
		<inertial>
			<origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
			<mass value="0.00269"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_lf_md_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_lf_md_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    <collision>
      <origin rpy="-0.06679566 0.99258405 -0.0361792" xyz="-0.00793345 -0.00034558 -0.00516596"/>
      <geometry>
        <capsule length="0.018946892889554656" radius="0.0075"/>
      </geometry>
      <material name="">
        <contact name="finger"/>
      </material>
   </collision>
   <visual>
       <origin rpy="0 0 0.0" xyz="0 0 0"/>
       <geometry>
           <mesh filename="meshes/lfmiddle_mean.stl" scale="1 1 1"/>
       </geometry>
       <material name="hand_color"/>
   </visual>
    </link>
    <!-- LF1 joint -->
    <joint name="LFJ1" type="revolute">
        <parent link="link_lf_pm_z"/>
        <child link="lfmiddle"/>
        <origin xyz="-0.0170144 6.18249e-05 -0.0124988"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="LFJ1_y" type="revolute">
        <parent link="lfmiddle"/>
        <child link="link_lf_md_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="LFJ1_z" type="revolute">
        <parent link="link_lf_md_y"/>
        <child link="link_lf_md_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.000" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="lfdistal">
		<inertial>
			<origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
			<mass value="0.00150"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_lf_dd_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_lf_dd_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="0.22194785 1.02909336 0.12582808" xyz="-0.00977975  0.00129545 -0.00574058"/>
          <geometry>
            <capsule length="0.007" radius="0.0065"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/lfdist_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- LF0 joint -->
    <joint name="LFJ0" type="revolute">
        <parent link="link_lf_md_z"/>
        <child link="lfdistal"/>
        <origin xyz="-0.0158669 -0.000691155 -0.0103319"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="LFJ0_y" type="revolute">
        <parent link="lfdistal"/>
        <child link="link_lf_dd_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.25000" upper="0.25000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="LFJ0_z" type="revolute">
        <parent link="link_lf_dd_y"/>
        <child link="link_lf_dd_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.000" upper="1.57" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <link name="link_lftip">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <!-- Fix Finger joint -->
    <joint name="LFTip" type="fixed">
        <parent link="link_lf_dd_z"/>
        <child link="link_lftip"/>
        <origin xyz="-0.0195595   0.0025909  -0.01148116"/>
    </joint>


    <!-- TH -->
    <link name="thfixed">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.0"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <!-- Fix Finger joint -->
    <joint name="Palm_THJ2" type="fixed">
        <parent link="link_palm_rz"/>
        <child link="thfixed"/>
        <origin xyz="0.0 0.0 0.0"/>
    </joint>


    <link name="thproximal">
		<inertial>
			<origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
			<mass value="0.01392"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_th_pm_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_th_pm_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="3.10400265 0.69148607 3.03731965" xyz="-0.00981662  0.00044564  0.01184977"/>
          <geometry>
            <capsule length="0.030788427516318044" radius="0.01"/>
          </geometry>
       </collision>
       <material name="">
         <contact name="finger"/>
       </material>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/thprox_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- TH2 proximal joint -->
    <joint name="THJ2" type="revolute">
        <parent link="thfixed"/>
        <child link="thproximal"/>
        <origin xyz="-0.0240897 -0.0155223 0.0258128"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="0" upper="1.57" />
        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="THJ2_y" type="revolute">
        <parent link="thproximal"/>
        <child link="link_th_pm_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.8" upper="0.8" />
        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="THJ2_z" type="revolute">
        <parent link="link_th_pm_y"/>
        <child link="link_th_pm_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.25" upper="0.25" />
        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="thmiddle">
		<inertial>
			<origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
			<mass value="0.00802"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
    </link>
    <link name="link_th_md_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_th_md_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy=" -2.78364168 0.96144328  -2.47379542" xyz="-0.01110887 -0.00271648  0.00726206"/>
          <geometry>
            <capsule length="0.02709418497996566" radius="0.01"/>
          </geometry>
          <material name="">
            <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/thmiddle_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- TH1 joint -->
    <joint name="THJ1" type="revolute">
        <parent link="link_th_pm_z"/>
        <child link="thmiddle"/>
        <origin xyz="-0.0196332 0.000891286 0.0236995"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-1" upper="1" />
        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="THJ1_y" type="revolute">
        <parent link="thmiddle"/>
        <child link="link_th_md_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-0.5" upper="0.5" />
        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="THJ1_z" type="revolute">
        <parent link="link_th_md_y"/>
        <child link="link_th_md_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.5" upper="0.5" />
        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>

    <link name="thdistal">
    <inertial>
        <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
        <mass value="0.00726"/>
        <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
    </inertial>
    </link>
    <link name="link_th_dd_y">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <link name="link_th_dd_z">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
        <collision>
          <origin rpy="-2.83317999 0.97259243  -2.56963586" xyz="-0.01577465 -0.00326327  0.01024323"/>
          <geometry>
            <capsule length="0.02" radius="0.01"/>
          </geometry>
          <material name="">
              <contact name="finger"/>
          </material>
       </collision>
       <visual>
           <origin rpy="0 0 0.0" xyz="0 0 0"/>
           <geometry>
               <mesh filename="meshes/thdist_mean.stl" scale="1 1 1"/>
           </geometry>
           <material name="hand_color"/>
       </visual>
    </link>
    <!-- TH0 joint -->
    <joint name="THJ0" type="revolute">
        <parent link="link_th_md_z"/>
        <child link="thdistal"/>
        <origin xyz="-0.0222177 -0.00543297 0.0145241"/>
        <axis xyz="1 0 0"/>
        <limit effort="1000" lower="-0.000" upper="1.57" />
        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="THJ0_y" type="revolute">
        <parent link="thdistal"/>
        <child link="link_th_dd_y"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 1 0"/>
        <limit effort="1000" lower="-1.0000" upper="1.0000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <joint name="THJ0_z" type="revolute">
        <parent link="link_th_dd_y"/>
        <child link="link_th_dd_z"/>
        <origin xyz="0.0 0.0 0.0"/>
        <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-1.0000" upper="1.0000" />

        <dynamics   damping="1.0" friction="0.0001"/>
    </joint>
    <link name="link_thtip">
        <inertial>
            <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
            <mass value="0.00000"/>
            <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
        </inertial>
    </link>
    <!-- Fix Finger joint -->
    <joint name="THTip" type="fixed">
        <parent link="link_th_dd_z"/>
        <child link="link_thtip"/>
        <origin xyz="-0.0315493  -0.00652654  0.02048647"/>
    </joint>


</robot>