<robot name="shadowhand">
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0" />
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0" />
  </material>
  <material name="Grey">
    <color rgba="0.2 0.2 0.2 1.0" />
  </material>
  <material name="LightGrey">
    <color rgba="0.6 0.6 0.6 1.0" />
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0" />
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <link name="forearm">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.09" />
      <mass value="3.0" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="shadow_forearm_geom">
        <mesh filename="package://sr_grasp_description/meshes/forearm.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.09" />
      <geometry name="shadow_forearm_collision">
        <cylinder length="0.180" radius="0.06" />
      </geometry>
    </collision>
  </link>
  <link name="wrist">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.0 0.0" />

      <mass value="0.1" />
      <inertia ixx="0.120" ixy="0.0" ixz="0.0" iyy="0.148" iyz="0.0" izz="0.0438" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="wrist_visual">
        <mesh filename="package://sr_grasp_description/meshes/wrist.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="wrist_collision_geom">
        <box size="0.02 0.02 0.02" />
      </geometry>
    </collision>
  </link>
  <joint name="WRJ2" type="revolute">
    <parent link="forearm" />
    <child link="wrist" />

    <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
    <axis xyz="0 1 0" />
    <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" />
    <dynamics damping="100.5" />
  </joint>
  <link name="palm">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.035" />
      <mass value="0.3" />
      <inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.3" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="palm_visual">
        <mesh filename="package://sr_grasp_description/meshes/palm.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.005 0 0.035" />
      <geometry name="palm_collision_geom">
        <box size="0.05 0.02 0.07" />
      </geometry>
    </collision>
  </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="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" />
    <dynamics damping="100.5" />
  </joint>
  <link name="ffknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0" />

      <mass value="0.008" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005" />
      <geometry name="knuckle_visual">
        <mesh filename="package://sr_grasp_description/meshes/knuckle.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="knuckle_collision_geom">
        <box size="0.005 0.005 0.005" />
      </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="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="ffproximal">
    <inertial>
      <mass value="0.014" />
      <origin xyz="0 0 0.0225" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="proximal_visual">
        <mesh filename="package://sr_grasp_description/meshes/F3.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0 " xyz="0 0 0.025" />
      <geometry name="proximal_collision_geom">
        <box size="0.008 0.008 0.04" />
      </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="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="ffmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125" />
      <mass value="0.012" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="middle_visual">
        <mesh filename="package://sr_grasp_description/meshes/F2.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125" />
      <geometry name="middle_collision_geom">
        <box size="0.008 0.008 0.015" />
      </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="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="ffdistal">
    <inertial>
      <mass value="0.010" />
      <origin xyz="0 0 0.013" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="distal_visual">
        <mesh filename="package://sr_grasp_description/meshes/distal_ellipsoid.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="distal_collision_geom">
        <mesh filename="package://sr_grasp_description/meshes/distal_ellipsoid.obj" scale="0.1 0.1 0.1" />
      </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" />
    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </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="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005" />
      <geometry name="knuckle_visual">
        <mesh filename="package://sr_grasp_description/meshes/knuckle.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="knuckle_collision_geom">
        <box size="0.005 0.005 0.005" />
      </geometry>
    </collision>
  </link>
  <joint name="MFJ4" type="revolute">
    <parent link="palm" />
    <child link="mfknuckle" />

    <origin rpy="0 0 0" xyz="0.011 0 0.099" />
    <axis xyz="0 -1 0" />
    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="mfproximal">
    <inertial>
      <mass value="0.014" />
      <origin xyz="0 0 0.0225" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="proximal_visual">
        <mesh filename="package://sr_grasp_description/meshes/F3.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0 " xyz="0 0 0.025" />
      <geometry name="proximal_collision_geom">
        <box size="0.008 0.008 0.04" />
      </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="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="mfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125" />
      <mass value="0.012" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="middle_visual">
        <mesh filename="package://sr_grasp_description/meshes/F2.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125" />
      <geometry name="middle_collision_geom">
        <box size="0.008 0.008 0.015" />
      </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="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="mfdistal">
    <inertial>
      <mass value="0.010" />
      <origin xyz="0 0 0.013" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="distal_visual">
        <mesh filename="package://sr_grasp_description/meshes/F1.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="distal_collision_geom">
        <mesh filename="package://sr_grasp_description/meshes/F1.obj" scale="0.1 0.1 0.1" />
      </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" />
    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </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="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005" />
      <geometry name="knuckle_visual">
        <mesh filename="package://sr_grasp_description/meshes/knuckle.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="knuckle_collision_geom">
        <box size="0.005 0.005 0.005" />
      </geometry>
    </collision>
  </link>
  <joint name="RFJ4" type="revolute">
    <parent link="palm" />
    <child link="rfknuckle" />

    <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
    <axis xyz="0 1 0" />
    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="rfproximal">
    <inertial>
      <mass value="0.014" />
      <origin xyz="0 0 0.0225" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="proximal_visual">
        <mesh filename="package://sr_grasp_description/meshes/F3.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0 " xyz="0 0 0.025" />
      <geometry name="proximal_collision_geom">
        <box size="0.008 0.008 0.04" />
      </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="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="rfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125" />
      <mass value="0.012" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="middle_visual">
        <mesh filename="package://sr_grasp_description/meshes/F2.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125" />
      <geometry name="middle_collision_geom">
        <box size="0.008 0.008 0.015" />
      </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="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="rfdistal">
    <inertial>
      <mass value="0.010" />
      <origin xyz="0 0 0.013" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="distal_visual">
        <mesh filename="package://sr_grasp_description/meshes/distal_ellipsoid.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="distal_collision_geom">
        <mesh filename="package://sr_grasp_description/meshes/distal_ellipsoid.obj" scale="0.1 0.1 0.1" />
      </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" />
    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </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 0" xyz="0 0 0.04" />
      <mass value="0.075" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="lfmetacarpal_visual">
        <mesh filename="package://sr_grasp_description/meshes/lfmetacarpal.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.04" />
      <geometry name="lfmetacarpal_collision_geom">
        <box size="0.008 0.008 0.03" />
      </geometry>
    </collision>
  </link>
  <joint name="LFJ5" type="revolute">
    <parent link="palm" />
    <child link="lfmetacarpal" />
    <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
    <axis xyz="0.573576436 0 0.819152044" />
    <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="lfknuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.06579" />
      <mass value="0.008" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="knuckle_visual">
        <mesh filename="package://sr_grasp_description/meshes/knuckle.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="LightGrey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="knuckle_collision_geom">
        <box size="0.005 0.005 0.005" />
      </geometry>
    </collision>
  </link>
  <joint name="LFJ4" type="revolute">
    <parent link="lfmetacarpal" />
    <child link="lfknuckle" />
    <origin rpy="0 0 0" xyz="0 0 0.06579" />
    <axis xyz="0 1 0" />
    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="lfproximal">
    <inertial>
      <mass value="0.014" />
      <origin xyz="0 0 0.0225" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="proximal_visual">
        <mesh filename="package://sr_grasp_description/meshes/F3.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0 " xyz="0 0 0.025" />
      <geometry name="proximal_collision_geom">
        <box size="0.008 0.008 0.04" />
      </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="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="lfmiddle">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0125" />
      <mass value="0.012" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="middle_visual">
        <mesh filename="package://sr_grasp_description/meshes/F2.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0125" />
      <geometry name="middle_collision_geom">
        <box size="0.008 0.008 0.015" />
      </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="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="lfdistal">
    <inertial>
      <mass value="0.010" />
      <origin xyz="0 0 0.013" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="distal_visual">
        <mesh filename="package://sr_grasp_description/meshes/F1.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="Grey" />
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="distal_collision_geom">
        <mesh filename="package://sr_grasp_description/meshes/F1.obj" scale="0.1 0.1 0.1" />
      </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" />
    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
    <dynamics damping="50.5" />
  </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="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.1" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="thbase_visual">
        <box size="0.001 0.001 0.001" />
      </geometry>
      <material name="shadow_thbase_material">
        <color rgba="0.5 0.5 0.5 1.0" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0 " xyz="0 0 0" />
      <geometry name="thbase_collision_geom">
        <box size="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <joint name="THJ5" type="revolute">
    <parent link="palm" />
    <child link="thbase" />
    <origin rpy="0 0.785398163397 0" xyz="0.034 -0.0085 0.029" />
    <axis xyz="0 0 -1.0" />
    <limit effort="100" lower="-1.047" upper="1.047" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="thproximal">
    <inertial>
      <mass value="0.016" />
      <origin rpy="0 0 0" xyz="0 0 0.019" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="thproximal_visual">
        <mesh filename="package://sr_grasp_description/meshes/TH3_z.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="shadow_thproximal_material">
        <color rgba="0.2 0.2 0.2 1.0" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.019" />
      <geometry name="thproximal_collision_geom">
        <box size="0.008 0.008 0.020" />
      </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="1.0 0 0" />
    <limit effort="100" lower="0" upper="1.309" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="thhub">
    <inertial>
      <mass value="0.002" />
      <origin rpy="0 0 0" xyz="0 0 0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="thhub_visual">
        <box size="0.001 0.001 0.001" />
      </geometry>
      <material name="shadow_thhub_material">
        <color rgba="0.7 0.7 0.7 1.0" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0 " xyz="0 0 0" />
      <geometry name="thhub_collision_geom">
        <box size="0.001 0.001 0.001" />
      </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="1 0 0" />
    <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="thmiddle">
    <inertial>
      <mass value="0.016" />
      <origin rpy="0 0 0" xyz="0 0 0.016" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry name="thmiddle_visual">
        <mesh filename="package://sr_grasp_description/meshes/TH2_z.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="shadow_thmiddle_material">
        <color rgba="0.2 0.2 0.2 1.0" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0 " xyz="0 0 0.016" />
      <geometry name="thmiddle_collision_geom">
        <box size="0.008 0.008 0.015" />
      </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="0 -1 0" />
    <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" />
    <dynamics damping="50.5" />
  </joint>
  <link name="thdistal">
    <inertial>
      <mass value="0.016" />
      <origin rpy="0 0 0" xyz="0 0 0.01375" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.002 0.0025" />
      <geometry name="thdistal_visual">
        <mesh filename="package://sr_grasp_description/meshes/distal_ellipsoid.obj" scale="0.1 0.1 0.1" />
      </geometry>
      <material name="shadow_thmiddle_material">
        <color rgba="0.2 0.2 0.2 1.0" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0 " xyz="0 0.002 0.0025" />
      <geometry name="thmiddle_collision_geom">
        <mesh filename="package://sr_grasp_description/meshes/distal_ellipsoid.obj" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
  </link>
  <joint name="THJ1" type="revolute">
    <parent link="thmiddle" />
    <child link="thdistal" />
    <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
    <axis xyz="1 0 0" />
    <limit effort="100" lower="0" upper="1.571" velocity="1.0" />
    <dynamics damping="50.5" />
  </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>
