<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ffw_sh5_follower.urdf.xacro    | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ffw_sh5_follower">
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
       <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01" />
       <mass value="35.989" />
       <inertia ixx="0.0172547" ixy="0.0000000647" ixz="0.000000189"
                iyy="0.0398374" iyz="0.000000171"
                izz="0.0284613" />
    </inertial>
  </link>
  <joint name="lidar_l_joint" type="fixed">
    <parent link="base_link"/>
    <child link="lidar_l_link"/>
    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
  </joint>
  <link name="lidar_l_link">
  </link>
  <joint name="lidar_r_joint" type="fixed">
    <parent link="base_link"/>
    <child link="lidar_r_link"/>
    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
  </joint>
  <link name="lidar_r_link">
  </link>
  <joint name="imu_joint" type="fixed">
    <parent link="base_link"/>
    <child link="imu_link"/>
    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
  </joint>
  <link name="imu_link">
  </link>
  <link name="lift_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/lift_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/lift_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
      <mass value="1.790000000e+01"/>
      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
    </inertial>
  </link>
  <joint name="lift_fixed_joint" type="fixed">
    <parent link="base_link"/>
    <child link="lift_link"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
  </joint>
  <material name="aluminum">
    <color rgba="0.5 0.5 0.5 1"/>
  </material>
  <material name="plastic">
    <color rgba="0.1 0.1 0.1 1"/>
  </material>
  <joint name="lift_joint" type="prismatic">
    <parent link="base_link"/>
    <child link="arm_base_link"/>
    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
      <mass value="6.193955900e+00"/>
      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
    </inertial>
  </link>
  <joint name="head_joint1" type="revolute">
    <parent link="arm_base_link"/>
    <child link="head_link1"/>
    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="head_link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
      <mass value="0.123518"/>
      <inertia ixx="6.870965700e-06" ixy="8.592260200e-10" ixz="-3.002664500e-07" iyy="1.771510200e-05" iyz="-4.447973700e-10" izz="1.631113500e-05"/>
    </inertial>
  </link>
  <joint name="head_joint2" type="revolute">
    <parent link="head_link1"/>
    <child link="head_link2"/>
    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="head_link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
      <mass value="3.254213000e-01"/>
      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
    </inertial>
  </link>
  <link name="zedm_camera_link"/>
  <link name="zedm_camera_center">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="zedm_mat">
        <color rgba="0.25 0.25 0.25 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="zedm_camera_center_joint" type="fixed">
    <parent link="zedm_camera_link"/>
    <child link="zedm_camera_center"/>
    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
  </joint>
  <link name="zedm_left_camera_frame"/>
  <joint name="zedm_left_camera_joint" type="fixed">
    <parent link="zedm_camera_center"/>
    <child link="zedm_left_camera_frame"/>
    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
  </joint>
  <link name="zedm_left_camera_optical_frame"/>
  <joint name="zedm_left_camera_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
    <parent link="zedm_left_camera_frame"/>
    <child link="zedm_left_camera_optical_frame"/>
  </joint>
  <link name="zedm_right_camera_frame"/>
  <joint name="zedm_right_camera_joint" type="fixed">
    <parent link="zedm_camera_center"/>
    <child link="zedm_right_camera_frame"/>
    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
  </joint>
  <link name="zedm_right_camera_optical_frame"/>
  <joint name="zedm_right_camera_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
    <parent link="zedm_right_camera_frame"/>
    <child link="zedm_right_camera_optical_frame"/>
  </joint>
  <joint name="zedm_joint" type="fixed">
    <parent link="head_link2"/>
    <child link="zedm_camera_link"/>
    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
  </joint>
  <joint name="arm_l_joint1" type="revolute">
    <parent link="arm_base_link"/>
    <child link="arm_l_link1"/>
    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_l_link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
      <mass value="2.001332200e+00"/>
      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
    </inertial>
  </link>
  <joint name="arm_l_joint2" type="revolute">
    <parent link="arm_l_link1"/>
    <child link="arm_l_link2"/>
    <origin rpy="0 0 0" xyz="0 0.123 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_l_link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
      <mass value="2.128261000e+00"/>
      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
    </inertial>
  </link>
  <joint name="arm_l_joint3" type="revolute">
    <parent link="arm_l_link2"/>
    <child link="arm_l_link3"/>
    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_l_link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
      <mass value="1.684755100e+00"/>
      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
    </inertial>
  </link>
  <joint name="arm_l_joint4" type="revolute">
    <parent link="arm_l_link3"/>
    <child link="arm_l_link4"/>
    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_l_link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
      <mass value="1.508214400e+00"/>
      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
    </inertial>
  </link>
  <joint name="arm_l_joint5" type="revolute">
    <parent link="arm_l_link4"/>
    <child link="arm_l_link5"/>
    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_l_link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
      <mass value="1.391783100e+00"/>
      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
    </inertial>
  </link>
  <joint name="arm_l_joint6" type="revolute">
    <parent link="arm_l_link5"/>
    <child link="arm_l_link6"/>
    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_l_link6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
      <mass value="6.577074100e-01"/>
      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
    </inertial>
  </link>
  <joint name="arm_l_joint7" type="revolute">
    <parent link="arm_l_link6"/>
    <child link="arm_l_link7"/>
    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_l_link7">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
      <mass value="1.668563000e-01"/>
      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
    </inertial>
  </link>
  <!-- camera body, with origin at bottom screw mount -->
  <joint name="camera_l_joint" type="fixed">
    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
    <parent link="arm_l_link7"/>
    <child link="camera_l_bottom_screw_frame"/>
  </joint>
  <link name="camera_l_bottom_screw_frame"/>
  <joint name="camera_l_link_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
    <parent link="camera_l_bottom_screw_frame"/>
    <child link="camera_l_link"/>
  </joint>
  <link name="camera_l_link">
    <visual>
      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
      <geometry>
        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="aluminum"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
      <geometry>
        <box size="0.023 0.042 0.042"/>
      </geometry>
    </collision>
    <inertial>
      <!-- The following are not reliable values, and should not be used for modeling -->
      <mass value="0.072"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <joint name="arm_r_joint1" type="revolute">
    <parent link="arm_base_link"/>
    <child link="arm_r_link1"/>
    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_r_link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
      <mass value="2.001332200e+00"/>
      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
    </inertial>
  </link>
  <joint name="arm_r_joint2" type="revolute">
    <parent link="arm_r_link1"/>
    <child link="arm_r_link2"/>
    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_r_link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
      <mass value="2.128261000e+00"/>
      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
    </inertial>
  </link>
  <joint name="arm_r_joint3" type="revolute">
    <parent link="arm_r_link2"/>
    <child link="arm_r_link3"/>
    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_r_link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
      <mass value="1.684755100e+00"/>
      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
    </inertial>
  </link>
  <joint name="arm_r_joint4" type="revolute">
    <parent link="arm_r_link3"/>
    <child link="arm_r_link4"/>
    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_r_link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
      <mass value="1.494251100e+00"/>
      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
    </inertial>
  </link>
  <joint name="arm_r_joint5" type="revolute">
    <parent link="arm_r_link4"/>
    <child link="arm_r_link5"/>
    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_r_link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
      <mass value="1.391783100e+00"/>
      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
    </inertial>
  </link>
  <joint name="arm_r_joint6" type="revolute">
    <parent link="arm_r_link5"/>
    <child link="arm_r_link6"/>
    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_r_link6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
      <mass value="6.577074100e-01"/>
      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
    </inertial>
  </link>
  <joint name="arm_r_joint7" type="revolute">
    <parent link="arm_r_link6"/>
    <child link="arm_r_link7"/>
    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="arm_r_link7">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
      <mass value="1.668563000e-01"/>
      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
    </inertial>
  </link>
  <!-- camera body, with origin at bottom screw mount -->
  <joint name="camera_r_joint" type="fixed">
    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
    <parent link="arm_r_link7"/>
    <child link="camera_r_bottom_screw_frame"/>
  </joint>
  <link name="camera_r_bottom_screw_frame"/>
  <joint name="camera_r_link_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
    <parent link="camera_r_bottom_screw_frame"/>
    <child link="camera_r_link"/>
  </joint>
  <link name="camera_r_link">
    <visual>
      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
      <geometry>
        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="aluminum"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
      <geometry>
        <box size="0.023 0.042 0.042"/>
      </geometry>
    </collision>
    <inertial>
      <!-- The following are not reliable values, and should not be used for modeling -->
      <mass value="0.072"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <joint name="hx5_d20_left_joint" type="fixed">
    <origin rpy="0 3.14159265359 1.5708" xyz="0 0 -0.078"/>
    <parent link="arm_l_link7"/>
    <child link="hx5_d20_left_base"/>
  </joint>
  <link name="hx5_d20_left_base">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_base_unit.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_base_unit.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="-2.6226269e-03 -1.6836251e-03 6.2283668e-02"/>
      <mass value="3.0185182e-01"/>
      <inertia ixx="5.2854441e-04" ixy="-9.4576969e-06" ixz="-1.8870822e-06" iyy="3.8232027e-04" iyz="-3.4927346e-07" izz="2.0124950e-04"/>
    </inertial>
  </link>
  <!-- THUMB -->
  <joint name="finger_l_joint1" type="revolute">
    <parent link="hx5_d20_left_base"/>
    <child link="finger_l_link1"/>
    <origin rpy="0 0 0" xyz="-0.0125 -0.03493 0.04475"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_thumb_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_thumb_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="2.3807543e-02 -1.3864423e-03 -1.7245618e-05"/>
      <mass value="4.0868482e-02"/>
      <inertia ixx="2.8827174e-06" ixy="-1.2704973e-06" ixz="1.6732651e-08" iyy="9.3996806e-06" iyz="1.5043128e-09" izz="9.6857093e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint2" type="revolute">
    <parent link="finger_l_link1"/>
    <child link="finger_l_link2"/>
    <origin rpy="0 0 0" xyz="0.039 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_thumb_mcp2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_thumb_mcp2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="3.5667920e-04 -1.3999343e-02 3.5920711e-04"/>
      <mass value="1.1760611e-02"/>
      <inertia ixx="1.3023455e-06" ixy="5.3492870e-08" ixz="1.5067505e-09" iyy="1.0556381e-06" iyz="-5.3427868e-08" izz="1.3024709e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint3" type="revolute">
    <parent link="finger_l_link2"/>
    <child link="finger_l_link3"/>
    <origin rpy="0 0 0" xyz="0.0 -0.028 0.0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-1.57" upper="0.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_thumb_ip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_thumb_ip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="1.0146203e-04 -1.1343515e-02 4.0805550e-06"/>
      <mass value="3.4689700e-02"/>
      <inertia ixx="5.0370173e-06" ixy="1.1035638e-07" ixz="5.4161055e-10" iyy="2.2580703e-06" iyz="-8.5483839e-10" izz="5.4029785e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint4" type="revolute">
    <parent link="finger_l_link3"/>
    <child link="finger_l_link4"/>
    <origin rpy="0 0 0" xyz="0.0 -0.0355 0.0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-1.57" upper="0.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_thumb_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_thumb_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="-1.7938916e-05 -1.6839136e-02 2.3602399e-04"/>
      <mass value="4.3781048e-02"/>
      <inertia ixx="1.1225495e-05" ixy="1.5543842e-08" ixz="5.8360810e-10" iyy="2.7956646e-06" iyz="3.1575945e-07" izz="1.1392997e-05"/>
    </inertial>
  </link>
  <joint name="finger_end_l_joint1" type="fixed">
    <parent link="finger_l_link4"/>
    <child link="finger_end_l_link1"/>
    <origin rpy="0 0 0" xyz="0.0 -0.03975 0.0"/>
  </joint>
  <link name="finger_end_l_link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <!-- INDEX -->
  <joint name="finger_l_joint5" type="revolute">
    <parent link="hx5_d20_left_base"/>
    <child link="finger_l_link5"/>
    <origin rpy="0 0 0" xyz="-0.0015 -0.03608 0.09575"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.6" upper="0.6" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="5.193401000e-03 -1.816308100e-05 2.111550700e-02"/>
      <mass value="3.880441100e-02"/>
      <inertia ixx="3.524993200e-06" ixy="1.364133900e-08" ixz="-3.766210300e-07" iyy="5.792157500e-06" iyz="1.153419900e-09" izz="4.712679800e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint6" type="revolute">
    <parent link="finger_l_link5"/>
    <child link="finger_l_link6"/>
    <origin rpy="0 0 0" xyz="0.0165 0.0 0.0235"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="2.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383300e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint7" type="revolute">
    <parent link="finger_l_link6"/>
    <child link="finger_l_link7"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link7">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383900e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint8" type="revolute">
    <parent link="finger_l_link7"/>
    <child link="finger_l_link8"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link8">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="7.102508500e-04 4.723840800e-04 1.809864000e-02"/>
      <mass value="1.363720100e-02"/>
      <inertia ixx="2.232432600e-06" ixy="2.731013800e-09" ixz="-1.436237900e-07" iyy="2.018806500e-06" iyz="8.149987600e-08" izz="1.078660600e-06"/>
    </inertial>
  </link>
  <joint name="finger_end_l_joint2" type="fixed">
    <parent link="finger_l_link8"/>
    <child link="finger_end_l_link2"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.02425"/>
  </joint>
  <link name="finger_end_l_link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <!-- MIDDLE -->
  <joint name="finger_l_joint9" type="revolute">
    <parent link="hx5_d20_left_base"/>
    <child link="finger_l_link9"/>
    <origin rpy="0 0 0" xyz="-0.0015 -0.00908 0.10353"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.6" upper="0.6" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link9">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="5.193401000e-03 -1.816308100e-05 2.111550700e-02"/>
      <mass value="3.880441100e-02"/>
      <inertia ixx="3.524993200e-06" ixy="1.364133900e-08" ixz="-3.766210300e-07" iyy="5.792157500e-06" iyz="1.153419900e-09" izz="4.712679800e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint10" type="revolute">
    <parent link="finger_l_link9"/>
    <child link="finger_l_link10"/>
    <origin rpy="0 0 0" xyz="0.0165 0.0 0.0235"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="2.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link10">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383300e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint11" type="revolute">
    <parent link="finger_l_link10"/>
    <child link="finger_l_link11"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link11">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383900e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint12" type="revolute">
    <parent link="finger_l_link11"/>
    <child link="finger_l_link12"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link12">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="7.102508500e-04 4.723840800e-04 1.809864000e-02"/>
      <mass value="1.363720100e-02"/>
      <inertia ixx="2.232432600e-06" ixy="2.731013800e-09" ixz="-1.436237900e-07" iyy="2.018806500e-06" iyz="8.149987600e-08" izz="1.078660600e-06"/>
    </inertial>
  </link>
  <joint name="finger_end_l_joint3" type="fixed">
    <parent link="finger_l_link12"/>
    <child link="finger_end_l_link3"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.02425"/>
  </joint>
  <link name="finger_end_l_link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <!-- RING -->
  <joint name="finger_l_joint13" type="revolute">
    <parent link="hx5_d20_left_base"/>
    <child link="finger_l_link13"/>
    <origin rpy="0 0 0" xyz="-0.0015 0.01792 0.09775"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.6" upper="0.6" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link13">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="5.193401000e-03 -1.816308100e-05 2.111550700e-02"/>
      <mass value="3.880441100e-02"/>
      <inertia ixx="3.524993200e-06" ixy="1.364133900e-08" ixz="-3.766210300e-07" iyy="5.792157500e-06" iyz="1.153419900e-09" izz="4.712679800e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint14" type="revolute">
    <parent link="finger_l_link13"/>
    <child link="finger_l_link14"/>
    <origin rpy="0 0 0" xyz="0.0165 0.0 0.0235"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="2.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link14">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383300e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint15" type="revolute">
    <parent link="finger_l_link14"/>
    <child link="finger_l_link15"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link15">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383900e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint16" type="revolute">
    <parent link="finger_l_link15"/>
    <child link="finger_l_link16"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link16">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="7.102508500e-04 4.723840800e-04 1.809864000e-02"/>
      <mass value="1.363720100e-02"/>
      <inertia ixx="2.232432600e-06" ixy="2.731013800e-09" ixz="-1.436237900e-07" iyy="2.018806500e-06" iyz="8.149987600e-08" izz="1.078660600e-06"/>
    </inertial>
  </link>
  <joint name="finger_end_l_joint4" type="fixed">
    <parent link="finger_l_link16"/>
    <child link="finger_end_l_link4"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.02425"/>
  </joint>
  <link name="finger_end_l_link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <!-- PINKY -->
  <joint name="finger_l_joint17" type="revolute">
    <parent link="hx5_d20_left_base"/>
    <child link="finger_l_link17"/>
    <origin rpy="0 0 0" xyz="-0.0015 0.04492 0.07875"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.6" upper="0.6" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link17">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="5.193401000e-03 -1.816308100e-05 2.111550700e-02"/>
      <mass value="3.880441100e-02"/>
      <inertia ixx="3.524993200e-06" ixy="1.364133900e-08" ixz="-3.766210300e-07" iyy="5.792157500e-06" iyz="1.153419900e-09" izz="4.712679800e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint18" type="revolute">
    <parent link="finger_l_link17"/>
    <child link="finger_l_link18"/>
    <origin rpy="0 0 0" xyz="0.0165 0.0 0.0235"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="2.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link18">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383300e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint19" type="revolute">
    <parent link="finger_l_link18"/>
    <child link="finger_l_link19"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link19">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383900e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_l_joint20" type="revolute">
    <parent link="finger_l_link19"/>
    <child link="finger_l_link20"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_l_link20">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_left/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="7.102508500e-04 4.723840800e-04 1.809864000e-02"/>
      <mass value="1.363720100e-02"/>
      <inertia ixx="2.232432600e-06" ixy="2.731013800e-09" ixz="-1.436237900e-07" iyy="2.018806500e-06" iyz="8.149987600e-08" izz="1.078660600e-06"/>
    </inertial>
  </link>
  <joint name="finger_end_l_joint5" type="fixed">
    <parent link="finger_l_link20"/>
    <child link="finger_end_l_link5"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.02425"/>
  </joint>
  <link name="finger_end_l_link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <joint name="hx5_d20_right_joint" type="fixed">
    <origin rpy="0 3.14159265359 -1.5708" xyz="0 0 -0.078"/>
    <parent link="arm_r_link7"/>
    <child link="hx5_d20_right_base"/>
  </joint>
  <link name="hx5_d20_right_base">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_base_unit.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_base_unit.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="-2.5954623e-03 1.7926275e-03 6.2957652e-02"/>
      <mass value="3.0185182e-01"/>
      <inertia ixx="5.4241294e-04" ixy="9.2340981e-06" ixz="-2.4709097e-06" iyy="3.8933294e-04" iyz="-1.6746740e-06" izz="2.1011567e-04"/>
    </inertial>
  </link>
  <!-- THUMB -->
  <joint name="finger_r_joint1" type="revolute">
    <parent link="hx5_d20_right_base"/>
    <child link="finger_r_link1"/>
    <origin rpy="0 0 0" xyz="-0.0125 0.03493 0.04475"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_thumb_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_thumb_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="2.3807543e-02 1.3152378e-03 4.6035452e-04"/>
      <mass value="4.0868482e-02"/>
      <inertia ixx="2.8819304e-06" ixy="1.1855237e-06" ixz="4.4930159e-07" iyy="9.4333399e-06" iyz="-9.2023407e-08" izz="9.6512629e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint2" type="revolute">
    <parent link="finger_r_link1"/>
    <child link="finger_r_link2"/>
    <origin rpy="0 0 0" xyz="0.039 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-3.14" upper="0.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_thumb_mcp2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_thumb_mcp2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="-3.5667920e-04 1.3999343e-02 3.5920711e-04"/>
      <mass value="1.1760611e-02"/>
      <inertia ixx="1.3023455e-06" ixy="5.3492870e-08" ixz="-1.5067505e-09" iyy="1.0556381e-06" iyz="5.3427868e-08" izz="1.3024709e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint3" type="revolute">
    <parent link="finger_r_link2"/>
    <child link="finger_r_link3"/>
    <origin rpy="0 0 0" xyz="0.0 0.028 0.0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_thumb_ip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_thumb_ip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="-1.0146203e-04 1.1343515e-02 4.0805550e-06"/>
      <mass value="3.4689700e-02"/>
      <inertia ixx="5.0370173e-06" ixy="1.1035638e-07" ixz="-5.4161055e-10" iyy="2.2580703e-06" iyz="8.5483839e-10" izz="5.4029785e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint4" type="revolute">
    <parent link="finger_r_link3"/>
    <child link="finger_r_link4"/>
    <origin rpy="0 0 0" xyz="0.0 0.0355 0.0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_thumb_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_thumb_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="6.6604979e-05 1.6824458e-02 2.2398502e-04"/>
      <mass value="4.3875236e-02"/>
      <inertia ixx="1.1160744e-05" ixy="-8.5593479e-09" ixz="-1.7171147e-09" iyy="2.8079428e-06" iyz="-3.0446511e-07" izz="1.1343106e-05"/>
    </inertial>
  </link>
  <joint name="finger_end_r_joint1" type="fixed">
    <parent link="finger_r_link4"/>
    <child link="finger_end_r_link1"/>
    <origin rpy="0 0 0" xyz="0.0 0.03975 0.0"/>
  </joint>
  <link name="finger_end_r_link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <!-- INDEX -->
  <joint name="finger_r_joint5" type="revolute">
    <parent link="hx5_d20_right_base"/>
    <child link="finger_r_link5"/>
    <origin rpy="0 0 0" xyz="-0.0015 0.03608 0.09575"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.6" upper="0.6" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="5.193401000e-03 -1.816308100e-05 2.111550700e-02"/>
      <mass value="3.880441100e-02"/>
      <inertia ixx="3.524993200e-06" ixy="1.364133900e-08" ixz="-3.766210300e-07" iyy="5.792157500e-06" iyz="1.153419900e-09" izz="4.712679800e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint6" type="revolute">
    <parent link="finger_r_link5"/>
    <child link="finger_r_link6"/>
    <origin rpy="0 0 0" xyz="0.0165 0.0 0.0235"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="2.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383300e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint7" type="revolute">
    <parent link="finger_r_link6"/>
    <child link="finger_r_link7"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link7">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383900e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint8" type="revolute">
    <parent link="finger_r_link7"/>
    <child link="finger_r_link8"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link8">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="7.102508500e-04 4.723840800e-04 1.809864000e-02"/>
      <mass value="1.363720100e-02"/>
      <inertia ixx="2.232432600e-06" ixy="2.731013800e-09" ixz="-1.436237900e-07" iyy="2.018806500e-06" iyz="8.149987600e-08" izz="1.078660600e-06"/>
    </inertial>
  </link>
  <joint name="finger_end_r_joint2" type="fixed">
    <parent link="finger_r_link8"/>
    <child link="finger_end_r_link2"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.02425"/>
  </joint>
  <link name="finger_end_r_link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <!-- MIDDLE -->
  <joint name="finger_r_joint9" type="revolute">
    <parent link="hx5_d20_right_base"/>
    <child link="finger_r_link9"/>
    <origin rpy="0 0 0" xyz="-0.0015 0.00908 0.10353"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.6" upper="0.6" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link9">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="5.193401000e-03 -1.816308100e-05 2.111550700e-02"/>
      <mass value="3.880441100e-02"/>
      <inertia ixx="3.524993200e-06" ixy="1.364133900e-08" ixz="-3.766210300e-07" iyy="5.792157500e-06" iyz="1.153419900e-09" izz="4.712679800e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint10" type="revolute">
    <parent link="finger_r_link9"/>
    <child link="finger_r_link10"/>
    <origin rpy="0 0 0" xyz="0.0165 0.0 0.0235"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="2.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link10">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383300e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint11" type="revolute">
    <parent link="finger_r_link10"/>
    <child link="finger_r_link11"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link11">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383900e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint12" type="revolute">
    <parent link="finger_r_link11"/>
    <child link="finger_r_link12"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link12">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="7.102508500e-04 4.723840800e-04 1.809864000e-02"/>
      <mass value="1.363720100e-02"/>
      <inertia ixx="2.232432600e-06" ixy="2.731013800e-09" ixz="-1.436237900e-07" iyy="2.018806500e-06" iyz="8.149987600e-08" izz="1.078660600e-06"/>
    </inertial>
  </link>
  <joint name="finger_end_r_joint3" type="fixed">
    <parent link="finger_r_link12"/>
    <child link="finger_end_r_link3"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.02425"/>
  </joint>
  <link name="finger_end_r_link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <!-- RING -->
  <joint name="finger_r_joint13" type="revolute">
    <parent link="hx5_d20_right_base"/>
    <child link="finger_r_link13"/>
    <origin rpy="0 0 0" xyz="-0.0015 -0.01792 0.09775"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.6" upper="0.6" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link13">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="5.193401000e-03 -1.816308100e-05 2.111550700e-02"/>
      <mass value="3.880441100e-02"/>
      <inertia ixx="3.524993200e-06" ixy="1.364133900e-08" ixz="-3.766210300e-07" iyy="5.792157500e-06" iyz="1.153419900e-09" izz="4.712679800e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint14" type="revolute">
    <parent link="finger_r_link13"/>
    <child link="finger_r_link14"/>
    <origin rpy="0 0 0" xyz="0.0165 0.0 0.0235"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="2.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link14">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383300e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint15" type="revolute">
    <parent link="finger_r_link14"/>
    <child link="finger_r_link15"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link15">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383900e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint16" type="revolute">
    <parent link="finger_r_link15"/>
    <child link="finger_r_link16"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link16">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="7.102508500e-04 4.723840800e-04 1.809864000e-02"/>
      <mass value="1.363720100e-02"/>
      <inertia ixx="2.232432600e-06" ixy="2.731013800e-09" ixz="-1.436237900e-07" iyy="2.018806500e-06" iyz="8.149987600e-08" izz="1.078660600e-06"/>
    </inertial>
  </link>
  <joint name="finger_end_r_joint4" type="fixed">
    <parent link="finger_r_link16"/>
    <child link="finger_end_r_link4"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.02425"/>
  </joint>
  <link name="finger_end_r_link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <!-- PINKY -->
  <joint name="finger_r_joint17" type="revolute">
    <parent link="hx5_d20_right_base"/>
    <child link="finger_r_link17"/>
    <origin rpy="0 0 0" xyz="-0.0015 -0.04492 0.07875"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.6" upper="0.6" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link17">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_mcp.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="5.193401000e-03 -1.816308100e-05 2.111550700e-02"/>
      <mass value="3.880441100e-02"/>
      <inertia ixx="3.524993200e-06" ixy="1.364133900e-08" ixz="-3.766210300e-07" iyy="5.792157500e-06" iyz="1.153419900e-09" izz="4.712679800e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint18" type="revolute">
    <parent link="finger_r_link17"/>
    <child link="finger_r_link18"/>
    <origin rpy="0 0 0" xyz="0.0165 0.0 0.0235"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="2.0" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link18">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_pip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383300e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint19" type="revolute">
    <parent link="finger_r_link18"/>
    <child link="finger_r_link19"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link19">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_dip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="4.080555000e-06 1.014620300e-04 2.415648500e-02"/>
      <mass value="3.468970000e-02"/>
      <inertia ixx="5.402978500e-06" ixy="5.416105500e-10" ixz="-8.548383900e-10" iyy="5.037017300e-06" iyz="1.103563800e-07" izz="2.258070300e-06"/>
    </inertial>
  </link>
  <joint name="finger_r_joint20" type="revolute">
    <parent link="finger_r_link19"/>
    <child link="finger_r_link20"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0355"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="0.0" upper="1.57" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="finger_r_link20">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/hx5_d20/hx5_d20_right/hx5_d20_finger_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="7.102508500e-04 4.723840800e-04 1.809864000e-02"/>
      <mass value="1.363720100e-02"/>
      <inertia ixx="2.232432600e-06" ixy="2.731013800e-09" ixz="-1.436237900e-07" iyy="2.018806500e-06" iyz="8.149987600e-08" izz="1.078660600e-06"/>
    </inertial>
  </link>
  <joint name="finger_end_r_joint5" type="fixed">
    <parent link="finger_r_link20"/>
    <child link="finger_end_r_link5"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.02425"/>
  </joint>
  <link name="finger_end_r_link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <joint name="left_wheel_steer" type="revolute">
    <parent link="base_link"/>
    <child link="left_wheel_steer_link"/>
    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
    <axis xyz="0 0 1"/>
    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
  </joint>
  <link name="left_wheel_steer_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
      <mass value="7.550951000e-01"/>
      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
    </inertial>
  </link>
  <joint name="left_wheel_drive" type="continuous">
    <parent link="left_wheel_steer_link"/>
    <child link="left_wheel_drive_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
    <axis xyz="0 1 0"/>
    <limit effort="9999.0" velocity="9999.0"/>
  </joint>
  <link name="left_wheel_drive_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
      <mass value="3.795460500e+00"/>
      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
    </inertial>
  </link>
  <joint name="right_wheel_steer" type="revolute">
    <parent link="base_link"/>
    <child link="right_wheel_steer_link"/>
    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
    <axis xyz="0 0 1"/>
    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
  </joint>
  <link name="right_wheel_steer_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
      <mass value="7.550951000e-01"/>
      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
    </inertial>
  </link>
  <joint name="right_wheel_drive" type="continuous">
    <parent link="right_wheel_steer_link"/>
    <child link="right_wheel_drive_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
    <axis xyz="0 1 0"/>
    <limit effort="9999.0" velocity="9999.0"/>
  </joint>
  <link name="right_wheel_drive_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
      <mass value="3.795460500e+00"/>
      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
    </inertial>
  </link>
  <joint name="rear_wheel_steer" type="revolute">
    <parent link="base_link"/>
    <child link="rear_wheel_steer_link"/>
    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
    <axis xyz="0 0 1"/>
    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
  </joint>
  <link name="rear_wheel_steer_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
      <mass value="7.550951000e-01"/>
      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
    </inertial>
  </link>
  <joint name="rear_wheel_drive" type="continuous">
    <parent link="rear_wheel_steer_link"/>
    <child link="rear_wheel_drive_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
    <axis xyz="0 1 0"/>
    <limit effort="9999.0" velocity="9999.0"/>
  </joint>
  <link name="rear_wheel_drive_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ffw_description/meshes/common/follower/swerve/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
      <mass value="3.795460500e+00"/>
      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
    </inertial>
  </link>
</robot>
