<?xml version="1.0" encoding="utf-8"?>
<!--
 Software License Agreement (BSD License)
 Copyright © 2022 belongs to Shadow Robot Company Ltd.
 All rights reserved.
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
   1. Redistributions of source code must retain the above copyright notice,
      this list of conditions and the following disclaimer.
   2. Redistributions in binary form must reproduce the above copyright notice,
      this list of conditions and the following disclaimer in the documentation
      and/or other materials provided with the distribution.
   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
      may be used to endorse or promote products derived from this software without
      specific prior written permission.
 This software is provided by Shadow Robot Company Ltd "as is" and any express
 or implied warranties, including, but not limited to, the implied warranties of
 merchantability and fitness for a particular purpose are disclaimed. In no event
 shall the copyright holder be liable for any direct, indirect, incidental, special,
 exemplary, or consequential damages (including, but not limited to, procurement of
 substitute goods or services; loss of use, data, or profits; or business interruption)
 however caused and on any theory of liability, whether in contract, strict liability,
 or tort (including negligence or otherwise) arising in any way out of the use of this
 software, even if advised of the possibility of such damage.
-->
<robot name="shadow_left">
  <link name="world"/>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="forearm"/>
    <origin rpy="0.0 0.0 1.57079" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="forearm">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.09"/>
      <mass value="3.0"/>
      <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry name="forearm_visual">
        <mesh filename="meshes/visual/forearm_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry name="forearm_collision">
        <mesh filename="meshes/collision/forearm_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <!-- wrist mount -->
    <collision>
      <origin rpy="0 0.785395 0" xyz="0 -0.01 0.165"/>
      <geometry>
        <box size="0.07 0.07 0.07"/>
      </geometry>
    </collision>
  </link>
  <link name="wrist">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.029"/>
      <mass value="0.1"/>
      <inertia ixx="0.000035" ixy="0.0" ixz="0.0" iyy="0.000064" iyz="0.0" izz="0.0000438"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="wrist_visual">
        <mesh filename="meshes/visual/wrist_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5708 1.5708 0" xyz="0 0 0"/>
      <geometry name="wrist_collision_geom">
        <cylinder length="0.030" radius="0.0135"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0.026 0 0.034"/>
      <geometry>
        <cylinder length="0.010" radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="-0.031 0 0.034"/>
      <geometry>
        <cylinder length="0.010" radius="0.011"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 -0.7854 0" xyz="0.021 0 0.011"/>
      <geometry>
        <box size="0.027 0.018 0.010"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0.7854 0" xyz="-0.026 0 0.010"/>
      <geometry>
        <box size="0.027 0.018 0.010"/>
      </geometry>
    </collision>
  </link>
  <joint name="WRJ2" type="revolute">
    <parent link="forearm"/>
    <child link="wrist"/>
    <origin rpy="0 0 0" xyz="0 -0.010 0.21301"/>
    <axis xyz="0 -1 0"/>
    <limit effort="10" lower="-0.523598775598" upper="0.174532925199" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="palm">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.035"/>
      <mass value="0.3"/>
      <inertia ixx="0.0003581" ixy="0.0" ixz="0.0" iyy="0.0005287" iyz="0.0" izz="0.000191"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="palm_visual">
        <mesh filename="meshes/visual/palm_E3M5_left.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.011 0.0085 0.042"/>
      <geometry name="palm_collision_geom">
        <box size="0.062 0.007 0.090"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.002 -0.0035 0.042"/>
      <geometry>
        <box size="0.036 0.017 0.090"/>
      </geometry>
    </collision>
    <!-- palm complement below first finger -->
    <collision>
      <origin rpy="0 0 0" xyz="-0.029 -0.0035 0.082"/>
      <geometry>
        <box size="0.026 0.017 0.010"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0.2 0 -0.25" xyz="-0.0265 -0.001 0.070"/>
      <geometry>
        <box size="0.026 0.014 0.018"/>
      </geometry>
    </collision>
    <!-- thumb pulp side -->
    <collision>
      <origin rpy="0 0 0" xyz="-0.0315 -0.0085 0.001"/>
      <geometry>
        <box size="0.021 0.027 0.016"/>
      </geometry>
    </collision>
    <!-- thumb pulp central -->
    <collision>
      <origin rpy="0 0 0.48" xyz="-0.0125 -0.015 0.009"/>
      <geometry>
        <box size="0.022 0.005 0.032"/>
      </geometry>
    </collision>
    <!-- above middle finger-->
    <collision>
      <origin rpy="0 0 0" xyz="-0.011 0 0.089"/>
      <geometry>
        <box size="0.018 0.024 0.004"/>
      </geometry>
    </collision>
    <!-- metacarpal side-->
    <collision>
      <origin rpy="0 0 0" xyz="0.03 0 0.009"/>
      <geometry>
        <box size="0.020 0.024 0.032"/>
      </geometry>
    </collision>
  </link>
  <joint name="ee_fixed_joint" type="fixed">
    <parent link="palm"/>
    <child link="ee_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.00"/>
  </joint>
  <link name="ee_link"/>
  <joint name="WRJ1" type="revolute">
    <parent link="wrist"/>
    <child link="palm"/>
    <origin rpy="0 0 0" xyz="0 0 0.034"/>
    <axis xyz="1 0 0"/>
    <limit effort="30" lower="-0.698131700798" upper="0.488692190558" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="imu"/>
  <joint name="palm_to_imu" type="fixed">
    <parent link="palm"/>
    <child link="imu"/>
    <origin rpy="-1.5707963 3.141592 0.0" xyz="0.01785 0.00765 0.049125"/>
  </joint>
  <link name="ffknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="ffknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0 0 0"/>
      <geometry name="lh_ffknuckle_collision_geom">
        <mesh filename="meshes/collision/f_knuckle_E3M5.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="FFJ4" type="revolute">
    <parent link="palm"/>
    <child link="ffknuckle"/>
    <origin rpy="0 0 0" xyz="-0.033 0 0.095"/>
    <axis xyz="0 1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="ffproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="ffproximal_visual">
        <mesh filename="meshes/visual/f_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="ffproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="FFJ3" type="revolute">
    <parent link="ffknuckle"/>
    <child link="ffproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="ffmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="ffmiddle_visual">
        <mesh filename="meshes/visual/f_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="ffmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="FFJ2" type="revolute">
    <parent link="ffproximal"/>
    <child link="ffmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="ffdistal">
    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
    <inertial>
      <mass value="0.12"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.0000094" ixy="0.0" ixz="0.0" iyy="0.000011" iyz="0.0" izz="0.0000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="ffdistal_visual">
        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="ffdistal_collision_geom">
        <mesh filename="meshes/collision/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="FFJ1" type="revolute">
    <parent link="ffmiddle"/>
    <child link="ffdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="fftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="FFtip" type="fixed">
    <parent link="ffdistal"/>
    <child link="fftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="mfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="mfknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <geometry name="ffknuckle_visual">
        <mesh filename="meshes/collision/f_knuckle_E3M5.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="MFJ4" type="revolute">
    <parent link="palm"/>
    <child link="mfknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 0 0" xyz="-0.011 0 0.099"/>
    <axis xyz="0 1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="mfproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="mfproximal_visual">
        <mesh filename="meshes/visual/f_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="mfproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="MFJ3" type="revolute">
    <parent link="mfknuckle"/>
    <child link="mfproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="mfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="mfmiddle_visual">
        <mesh filename="meshes/visual/f_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="mfmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="MFJ2" type="revolute">
    <parent link="mfproximal"/>
    <child link="mfmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="mfdistal">
    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
    <inertial>
      <mass value="0.12"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.0000094" ixy="0.0" ixz="0.0" iyy="0.000011" iyz="0.0" izz="0.0000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="mfdistal_visual">
        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="mfdistal_collision_geom">
        <mesh filename="meshes/collision/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="MFJ1" type="revolute">
    <parent link="mfmiddle"/>
    <child link="mfdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="mftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="MFtip" type="fixed">
    <parent link="mfdistal"/>
    <child link="mftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="rfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="rfknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <geometry name="ffknuckle_visual">
        <mesh filename="meshes/collision/f_knuckle_E3M5.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="RFJ4" type="revolute">
    <parent link="palm"/>
    <child link="rfknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 0 0" xyz="0.011 0 0.095"/>
    <axis xyz="0 -1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rfproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rfproximal_visual">
        <mesh filename="meshes/visual/f_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="rfproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="RFJ3" type="revolute">
    <parent link="rfknuckle"/>
    <child link="rfproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rfmiddle_visual">
        <mesh filename="meshes/visual/f_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="rfmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="RFJ2" type="revolute">
    <parent link="rfproximal"/>
    <child link="rfmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rfdistal">
    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
    <inertial>
      <mass value="0.12"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.0000094" ixy="0.0" ixz="0.0" iyy="0.000011" iyz="0.0" izz="0.0000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rfdistal_visual">
        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="rfdistal_collision_geom">
        <mesh filename="meshes/collision/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="RFJ1" type="revolute">
    <parent link="rfmiddle"/>
    <child link="rfdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="rftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="RFtip" type="fixed">
    <parent link="rfdistal"/>
    <child link="rftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="lfmetacarpal">
    <inertial>
      <origin rpy="0 0.9599 0" xyz="0.0317486764706 0 0.0223529411765"/>
      <mass value="0.030"/>
      <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272"/>
    </inertial>
    <visual>
      <origin rpy="0 -0.9599 0" xyz="0 0 0"/>
      <geometry name="lfmetacarpal_visual">
        <mesh filename="meshes/visual/lf_metacarpal_E3M5_left.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 -0.9599 0" xyz="-0.026986375 0 0.019"/>
      <geometry name="lfmetacarpal_collision_geom">
        <box size="0.018 0.024 0.040"/>
      </geometry>
    </collision>
  </link>
  <joint name="LFJ5" type="revolute">
    <parent link="palm"/>
    <child link="lfmetacarpal"/>
    <origin rpy="0 0.9599 0" xyz="0.033 0 0.02071"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="0.785398163397" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.008"/>
      <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry name="lfknuckle_visual">
        <mesh filename="meshes/visual/f_knuckle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <geometry name="ffknuckle_visual">
        <mesh filename="meshes/collision/f_knuckle_E3M5.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="LFJ4" type="revolute">
    <parent link="lfmetacarpal"/>
    <child link="lfknuckle"/>
    <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
    <origin rpy="0 -0.9599 0" xyz="-0.05397275 0 0.03779463"/>
    <axis xyz="0 -1 0"/>
    <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lfproximal">
    <inertial>
      <mass value="0.030"/>
      <origin xyz="0 0 0.0225"/>
      <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lfproximal_visual">
        <mesh filename="meshes/visual/f_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry name="lfproximal_collision_geom">
        <cylinder length="0.040" radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="LFJ3" type="revolute">
    <parent link="lfknuckle"/>
    <child link="lfproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <mass value="0.017"/>
      <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lfmiddle_visual">
        <mesh filename="meshes/visual/f_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125"/>
      <geometry name="lfmiddle_collision_geom">
        <cylinder length="0.025" radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <geometry>
        <sphere radius="0.007"/>
      </geometry>
    </collision>
  </link>
  <joint name="LFJ2" type="revolute">
    <parent link="lfproximal"/>
    <child link="lfmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0.045"/>
    <axis xyz="1 0 0"/>
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lfdistal">
    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
    <inertial>
      <mass value="0.12"/>
      <origin xyz="0 0 0.012"/>
      <inertia ixx="0.0000094" ixy="0.0" ixz="0.0" iyy="0.000011" iyz="0.0" izz="0.0000053"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lfdistal_visual">
        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="lfdistal_collision_geom">
        <mesh filename="meshes/visual/f_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="LFJ1" type="revolute">
    <parent link="lfmiddle"/>
    <child link="lfdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <axis xyz="1 0 0"/>
    <!-- standard distal joint -->
    <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="lftip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="LFtip" type="fixed">
    <parent link="lfdistal"/>
    <child link="lftip"/>
    <origin rpy="0 0 0" xyz="0 0 0.026"/>
  </joint>
  <link name="thbase">
    <inertial>
      <mass value="0.010"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.00000016" ixy="0.0" ixz="0.0" iyy="0.00000016" iyz="0.0" izz="0.00000016"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="thbase_visual">
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="thbase_collision_geom">
        <sphere radius="0.011"/>
      </geometry>
    </collision>
  </link>
  <joint name="THJ5" type="revolute">
    <parent link="palm"/>
    <child link="thbase"/>
    <origin rpy="-0.785398163397 0 1.57079632679" xyz="-0.034 -0.00858 0.029"/>
    <axis xyz="0 0 1"/>
    <limit effort="5.0" lower="-1.0471975512" upper="1.0471975512" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="thproximal">
    <inertial>
      <mass value="0.040"/>
      <origin rpy="0 0 0" xyz="0 0 0.019"/>
      <inertia ixx="0.0000136" ixy="0.0" ixz="0.0" iyy="0.0000136" iyz="0.0" izz="0.00000313"/>
    </inertial>
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry name="thproximal_visual">
        <mesh filename="meshes/visual/th_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry name="thproximal_collision">
        <mesh filename="meshes/collision/th_proximal_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="THJ4" type="revolute">
    <parent link="thbase"/>
    <child link="thproximal"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 -1 0"/>
    <limit effort="3" lower="0.0" upper="1.2217304764" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="thhub">
    <inertial>
      <mass value="0.005"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.0000003"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="thhub_collision_geom">
        <sphere radius="0.010"/>
      </geometry>
    </collision>
  </link>
  <joint name="THJ3" type="revolute">
    <parent link="thproximal"/>
    <child link="thhub"/>
    <origin rpy="0 0 0" xyz="0 0 0.038"/>
    <axis xyz="0 -1 0"/>
    <limit effort="2.0" lower="-0.209439510239" upper="0.209439510239" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="thmiddle">
    <inertial>
      <mass value="0.020"/>
      <origin rpy="0 0 0" xyz="0 0 0.016"/>
      <inertia ixx="0.0000051" ixy="0.0" ixz="0.0" iyy="0.0000051" iyz="0.0" izz="0.00000121"/>
    </inertial>
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry name="thmiddle_visual">
        <mesh filename="meshes/visual/th_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <geometry name="thmiddle_collision">
        <mesh filename="meshes/collision/th_middle_E3M5.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="THJ2" type="revolute">
    <parent link="thhub"/>
    <child link="thmiddle"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="2.0" lower="-0.698131700798" upper="0.698131700798" velocity="2.0"/>
    <dynamics damping="0.1"/>
  </joint>
  <!-- common -->
  <link name="thdistal">
    <!--    inertial and mass is enlarged by 10 times to fix the position drive issue in Physx simulation, used in IsaacGym and SAPIEN-->
    <inertial>
      <mass value="0.16"/>
      <origin rpy="0 0 0" xyz="0 0 0.01375"/>
      <inertia ixx="0.000021" ixy="0.0" ixz="0.0" iyy="0.000022" iyz="0.0" izz="0.00001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="thdistal_visual">
        <mesh filename="meshes/visual/th_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry name="thmiddle_collision_geom">
        <mesh filename="meshes/visual/th_distal_pst.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="THJ1" type="revolute">
    <parent link="thmiddle"/>
    <child link="thdistal"/>
    <origin rpy="0 0 0" xyz="0 0 0.032"/>
    <axis xyz="1 0 0"/>
    <limit effort="1.0" lower="-0.261799387799" upper="1.57079632679" velocity="4.0"/>
    <dynamics damping="0.2"/>
  </joint>
  <link name="thtip">
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <joint name="THtip" type="fixed">
    <parent link="thdistal"/>
    <child link="thtip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0275"/>
  </joint>
</robot>
