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<color rgba="0.86666666666666669627 0.86666666666666669627 0.050980392156862744391 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.043968715707239175439 0.057952952973709198625 -0.0086286764493694757122" rpy="1.9428902930940098942e-16 3.2751579226442200773e-15 1.1123758529657360012e-46" />
<geometry>
<mesh filename="./meshes/thumb_dip.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.038" />
<inertia ixx="0.000008474" ixy="0.000000241"  ixz="0.000000026" iyy="0.000003841" iyz="0.000000025" izz="0.000007679" />
</inertial>
</link>

<link name="thumb_fingertip">
<visual>
<origin xyz="0.062559538462667388381 0.078459682911396988469 0.048992911807332215068" rpy="4.3790577010156367543e-47 -3.3306690738754701143e-16 1.2042408677791935383e-46" />
<geometry>
<mesh filename="./meshes/thumb_fingertip.obj"/>
</geometry>
<material name="thumb_fingertip_material">
<color rgba="0.60392156862745094426 0.14901960784313725283 0.14901960784313725283 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.062559538462667388381 0.078459682911396988469 0.048992911807332215068" rpy="4.3790577010156367543e-47 -3.3306690738754701143e-16 1.2042408677791935383e-46" />
<geometry>
<mesh filename="./meshes/thumb_fingertip_collision.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.049" />
<inertia ixx="0.000020372" ixy="-0.000000489"  ixz="-0.00000003" iyy="0.000004336" iyz="-0.000000097" izz="0.000019845" />
</inertial>
</link>

<joint name="j12" type="revolute">
<origin xyz="-0.069395249652862533996 -0.0012422438651005258004 -0.021622403578460215601" rpy="-8.2381766464939424156e-17 1.5707963267948956698 0" />
<parent link="palm_lower" />
<child link="pip_4" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.349" upper = "2.094"/> 
<joint_properties friction="0.0"/>
</joint>

<joint name="j13" type="revolute">
<origin xyz="-2.7755575615628913511e-17 0.014300000000000005415 -0.013000000000000011546" rpy="1.5707963267948958919 -1.570796326794896336 0" />
<parent link="pip_4" />
<child link="thumb_pip" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.47" upper = "2.443"/> 
<joint_properties friction="0.0"/>
</joint>

<joint name="j14" type="revolute">
<origin xyz="0 0.014499999999999966041 -0.017000000000000053263" rpy="-1.570796326794896558 1.6050198443300131245e-46 -1.9721522630516624601e-31" />
<parent link="thumb_pip" />
<child link="thumb_dip" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-1.20" upper = "1.90"/> 
<joint_properties friction="0.0"/>
</joint>

<joint name="j15" type="revolute">
<origin xyz="-1.249000902703301108e-16 0.046599999999999863753 0.00019999999999997710581" rpy="1.5063958491491781023e-44 5.4234187233935260503e-31 3.141592653589793116" />
<parent link="thumb_dip" />
<child link="thumb_fingertip" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-1.34" upper = "1.88"/> 
<joint_properties friction="0.0"/>
</joint>

</robot>
