<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="xhand_right">
  <link
    name="right_hand_link">
    <inertial>
      <origin
        xyz="0.010035126340455 -0.00366835056360167 0.0582695212892126"
        rpy="0 0 0" />
      <mass
        value="0.53851506" />
      <inertia
        ixx=".00064186"
        ixy="0.00000002"
        ixz="-0.00000217"
        iyy="0.00046434"
        iyz="0.00005134"
        izz="0.00027538" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_link.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="right_hand_ee_link">
    <inertial>
      <origin
        xyz="1.4529186126289E-19 -2.85196737334113E-18 0"
        rpy="0 0 0" />
      <mass
        value="0.00000565" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ee_link.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ee_joint"
    type="fixed">
    <origin
      xyz="0 0 0.065"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_ee_link" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_back_link">
    <inertial>
      <origin
        xyz="-0.0140081519632461 -0.00149245332244742 -0.000647126026633069"
        rpy="0 0 0" />
      <mass
        value="0.00000002" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_back_link.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_back_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_back_joint"
    type="fixed">
    <origin
      xyz="0 0 0.065"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_back_link" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_thumb_bend_link">
    <inertial>
      <origin
        xyz="-0.00116534489100702 0.0144358799903649 5.40665183232092E-05"
        rpy="0 0 0" />
      <mass
        value="0.01151453" />
      <inertia
        ixx="0.00000155"
        ixy="-0.00000003"
        ixz="0.00000000001"
        iyy="0.00000062"
        iyz="0.00000007"
        izz="0.00000157" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_bend_link.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_bend_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_bend_joint"
    type="revolute">
    <origin
      xyz="0.0095 0.0228 0.0305"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_thumb_bend_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="0"
      upper="1.832"
      effort="1.1"
      velocity="8.63" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_thumb_rota_link1">
    <inertial>
      <origin
        xyz="-0.00036176505273174 0.0287681485595387 0.00133929684947857"
        rpy="0 0 0" />
      <mass
        value="0.1322853" />
      <inertia
        ixx="0.00003665"
        ixy="-0.00000788"
        ixz="0.00000198"
        iyy="0.00001694"
        iyz="0.00000185"
        izz="0.00004358" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rota_link1.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rota_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_rota_joint1"
    type="revolute">
    <origin
      xyz="0.0083177 0.028599 -0.00178"
      rpy="0 0.2618 -0.0407" />
    <parent
      link="right_hand_thumb_bend_link" />
    <child
      link="right_hand_thumb_rota_link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.698"
      upper="1.57"
      effort="1.1"
      velocity="8.63" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_thumb_rotaback_link1">
    <inertial>
      <origin
        xyz="0.00143342397772657 -0.0296289408961753 -0.00759117851370326"
        rpy="0 0 0" />
      <mass
        value="0.00000006" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rotaback_link1.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rotaback_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_rotaback_joint1"
    type="fixed">
    <origin
      xyz="0 0.0553000000000007 0"
      rpy="0 0 0" />
    <parent
      link="right_hand_thumb_rota_link1" />
    <child
      link="right_hand_thumb_rotaback_link1" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_thumb_rota_link2">
    <inertial>
      <origin
        xyz="-0.000881604281134662 0.0225339954987271 0.000614550644508979"
        rpy="0 0 0" />
      <mass
        value="0.03516871" />
      <inertia
        ixx="0.00000779"
        ixy="-0.00000002"
        ixz="0.00000034"
        iyy="0.0000035"
        iyz="-0.00000018"
        izz="0.00000896" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rota_link2.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rota_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_rota_joint2"
    type="revolute">
    <origin
      xyz="0 0.0553 0"
      rpy="0 0 0" />
    <parent
      link="right_hand_thumb_rota_link1" />
    <child
      link="right_hand_thumb_rota_link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="1.57"
      effort="0.4"
      velocity="14.38" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_thumb_rotaback_link2">
    <inertial>
      <origin
        xyz="-0.000532663554883375 -0.0258393181739458 -0.00924631111128287"
        rpy="0 0 0" />
      <mass
        value="0.00000004" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rotaback_link2.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rotaback_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_rotaback_joint2"
    type="fixed">
    <origin
      xyz="0 0.0502276499414863 0"
      rpy="0 0 0" />
    <parent
      link="right_hand_thumb_rota_link2" />
    <child
      link="right_hand_thumb_rotaback_link2" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_thumb_rota_tip">
    <inertial>
      <origin
        xyz="1.82145964977565E-17 -2.77555756156289E-17 1.31838984174237E-16"
        rpy="0 0 0" />
      <mass
        value="0.00000565" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rota_tip.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_thumb_rota_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_rota_joint3"
    type="fixed">
    <origin
      xyz="0 0.0502276499414863 0"
      rpy="0 0 0" />
    <parent
      link="right_hand_thumb_rota_link2" />
    <child
      link="right_hand_thumb_rota_tip" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_index_bend_link">
    <inertial>
      <origin
        xyz="-0.000715851164577249 0.000118997558760756 0.0111903014853532"
        rpy="0 0 0" />
      <mass
        value="0.068721" />
      <inertia
        ixx="0.00001643"
        ixy="0.00000000001"
        ixz="0.00000013"
        iyy="0.00001707"
        iyz="-0.00000011"
        izz="0.00000343" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_bend_link.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1.0" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_bend_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_index_bend_joint"
    type="revolute">
    <origin
      xyz="0.0065 0.0265 0.0899"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_index_bend_link" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="-0.174"
      upper="0.174"
      effort="0.4"
      velocity="14.38" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_index_rota_link1">
    <inertial>
      <origin
        xyz="0.00063293051295399 0.00013300810657332 0.0355868719939061"
        rpy="0 0 0" />
      <mass
        value="0.06298297" />
      <inertia
        ixx="0.00001686"
        ixy="0.00000000001"
        ixz="-0.00000019"
        iyy="0.00001738"
        iyz="-0.00000028"
        izz="0.0000032" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rota_link1.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rota_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_index_joint1"
    type="revolute">
    <origin
      xyz="0 0 0.0178"
      rpy="0 0 0" />
    <parent
      link="right_hand_index_bend_link" />
    <child
      link="right_hand_index_rota_link1" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="1.919"
      effort="1.1"
      velocity="8.63" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_index_rotaback_link1">
    <inertial>
      <origin
        xyz="-0.0115948039989203 -0.000148034626475925 -0.0241234086564007"
        rpy="0 0 0" />
      <mass
        value="0.00000002" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rotaback_link1.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rotaback_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_index_rotaback_joint1"
    type="fixed">
    <origin
      xyz="0 0 0.0557999999999955"
      rpy="0 0 0" />
    <parent
      link="right_hand_index_rota_link1" />
    <child
      link="right_hand_index_rotaback_link1" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_index_rota_link2">
    <inertial>
      <origin
        xyz="0.00119905190206782 -0.000248361661986104 0.0213789854478679"
        rpy="0 0 0" />
      <mass
        value="0.01582395" />
      <inertia
        ixx="0.00000283"
        ixy="0.00000000001"
        ixz="-0.00000007"
        iyy="0.00000277"
        iyz="-0.00000012"
        izz="0.00000085" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rota_link2.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rota_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_index_joint2"
    type="revolute">
    <origin
      xyz="0 0 0.0558"
      rpy="0 0 0" />
    <parent
      link="right_hand_index_rota_link1" />
    <child
      link="right_hand_index_rota_link2" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="1.919"
      effort="0.4"
      velocity="14.38" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_index_rotaback_link2">
    <inertial>
      <origin
        xyz="-0.00758843721876551 0.00015795043857645 -0.0176655210856158"
        rpy="0 0 0" />
      <mass
        value="0.00000001" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rotaback_link2.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rotaback_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_index_rotaback_joint2"
    type="fixed">
    <origin
      xyz="0 0 0.0422482924089424"
      rpy="0 0 0" />
    <parent
      link="right_hand_index_rota_link2" />
    <child
      link="right_hand_index_rotaback_link2" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_index_rota_tip">
    <inertial>
      <origin
        xyz="7.13838710364456E-16 -3.46944695195361E-18 2.77555756156289E-17"
        rpy="0 0 0" />
      <mass
        value="0.00000565" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rota_tip.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_index_rota_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_index_rota_joint3"
    type="fixed">
    <origin
      xyz="0 0 0.0422482924089424"
      rpy="0 0 0" />
    <parent
      link="right_hand_index_rota_link2" />
    <child
      link="right_hand_index_rota_tip" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_mid_link1">
    <inertial>
      <origin
        xyz="0.000530417592106097 3.58049083658378E-05 0.033278467115721"
        rpy="0 0 0" />
      <mass
        value="0.06298297" />
      <inertia
        ixx="0.00001681"
        ixy="0.00000000001"
        ixz="-0.00000087"
        iyy="0.00001738"
        iyz="-0.00000028"
        izz="0.00000325" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_mid_link1.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_mid_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_mid_joint1"
    type="revolute">
    <origin
      xyz="0.0065 0.004 0.1082"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_mid_link1" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="1.919"
      effort="1.1"
      velocity="8.63" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_midback_link1">
    <inertial>
      <origin
        xyz="-0.0115948039977618 -0.000148034759331951 -0.0241234077138271"
        rpy="0 0 0" />
      <mass
        value="0.00000002" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_midback_link1.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_midback_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_midback_joint1"
    type="fixed">
    <origin
      xyz="0 0 0.0558"
      rpy="0 0 0" />
    <parent
      link="right_hand_mid_link1" />
    <child
      link="right_hand_midback_link1" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_mid_link2">
    <inertial>
      <origin
        xyz="0.00119905190206755 -0.000248361661996566 0.0213789854478682"
        rpy="0 0 0" />
      <mass
        value="0.01582395" />
      <inertia
        ixx="0.00000287"
        ixy="-0.00000001"
        ixz="-0.00000019"
        iyy="0.00000283"
        iyz="-0.00000012"
        izz="0.00000087" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_mid_link2.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_mid_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_mid_joint2"
    type="revolute">
    <origin
      xyz="0 0 0.0558"
      rpy="0 0 0" />
    <parent
      link="right_hand_mid_link1" />
    <child
      link="right_hand_mid_link2" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="1.919"
      effort="0.4"
      velocity="14.38" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_midback_link2">
    <inertial>
      <origin
        xyz="-0.00758843721876527 0.000157950438608734 -0.0176655210856121"
        rpy="0 0 0" />
      <mass
        value="0.00000001" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_midback_link2.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_midback_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_midback_joint2"
    type="fixed">
    <origin
      xyz="0 0 0.0422482924089416"
      rpy="0 0 0" />
    <parent
      link="right_hand_mid_link2" />
    <child
      link="right_hand_midback_link2" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_mid_tip">
    <inertial>
      <origin
        xyz="6.99093560818653E-16 2.6104986228237E-14 8.32667268468867E-16"
        rpy="0 0 0" />
      <mass
        value="0.00000565" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_mid_tip.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_mid_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_mid_joint3"
    type="fixed">
    <origin
      xyz="0 0 0.042248"
      rpy="0 0 0" />
    <parent
      link="right_hand_mid_link2" />
    <child
      link="right_hand_mid_tip" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_ring_link1">
    <inertial>
      <origin
        xyz="0.000530417592105675 3.58049083603318E-05 0.0332784671157224"
        rpy="0 0 0" />
      <mass
        value="0.06298297" />
      <inertia
        ixx="0.00001681"
        ixy="0.00000000001"
        ixz="-0.00000087"
        iyy="0.00001738"
        iyz="-0.00000028"
        izz="0.00000325" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ring_link1.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ring_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ring_joint1"
    type="revolute">
    <origin
      xyz="0.0065 -0.016 0.1052"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_ring_link1" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="1.919"
      effort="1.1"
      velocity="8.63" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_ringback_link1">
    <inertial>
      <origin
        xyz="-0.0115948040042931 -0.000148034878525431 -0.0241234080984737"
        rpy="0 0 0" />
      <mass
        value="0.00000002" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ringback_link1.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ringback_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ringback_joint1"
    type="fixed">
    <origin
      xyz="0 0 0.0558"
      rpy="0 0 0" />
    <parent
      link="right_hand_ring_link1" />
    <child
      link="right_hand_ringback_link1" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_ring_link2">
    <inertial>
      <origin
        xyz="0.00119905192644367 -0.000248361559624762 0.0213789854805378"
        rpy="0 0 0" />
      <mass
        value="0.01582395" />
      <inertia
        ixx="0.00000287"
        ixy="-0.00000001"
        ixz="-0.00000019"
        iyy="0.00000283"
        iyz="-0.00000012"
        izz="0.00000087" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ring_link2.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ring_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ring_joint2"
    type="revolute">
    <origin
      xyz="0 0 0.0558"
      rpy="0 0 0" />
    <parent
      link="right_hand_ring_link1" />
    <child
      link="right_hand_ring_link2" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="1.919"
      effort="0.4"
      velocity="14.38" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_ringback_link2">
    <inertial>
      <origin
        xyz="-0.00758843721876704 0.000157950438643945 -0.0176655210856309"
        rpy="0 0 0" />
      <mass
        value="0.00000001" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ringback_link2.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ringback_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ringback_joint2"
    type="fixed">
    <origin
      xyz="0 0 0.0422482924089404"
      rpy="0 0 0" />
    <parent
      link="right_hand_ring_link2" />
    <child
      link="right_hand_ringback_link2" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_ring_tip">
    <inertial>
      <origin
        xyz="3.0444397003393E-16 -9.71445146547012E-17 0"
        rpy="0 0 0" />
      <mass
        value="0.00000565" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ring_tip.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_ring_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ring_joint3"
    type="fixed">
    <origin
      xyz="0 0 0.0422482924089404"
      rpy="0 0 0" />
    <parent
      link="right_hand_ring_link2" />
    <child
      link="right_hand_ring_tip" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_pinky_link1">
    <inertial>
      <origin
        xyz="0.00053041759210553 3.58049083602902E-05 0.0332784671157224"
        rpy="0 0 0" />
      <mass
        value="0.06298297" />
      <inertia
        ixx="0.00001681"
        ixy="0.00000000001"
        ixz="-0.00000087"
        iyy="0.00001738"
        iyz="-0.00000028"
        izz="0.00000325" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinky_link1.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinky_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_pinky_joint1"
    type="revolute">
    <origin
      xyz="0.0065 -0.036 0.1022"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_pinky_link1" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="1.919"
      effort="1.1"
      velocity="8.63" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_pinkyback_link1">
    <inertial>
      <origin
        xyz="-0.0115948039527258 -0.000148033943928788 -0.0241234090857975"
        rpy="0 0 0" />
      <mass
        value="0.00000002" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinkyback_link1.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinkyback_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_pinkyback_joint1"
    type="fixed">
    <origin
      xyz="0 0 0.0558000000000001"
      rpy="0 0 0" />
    <parent
      link="right_hand_pinky_link1" />
    <child
      link="right_hand_pinkyback_link1" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_pinky_link2">
    <inertial>
      <origin
        xyz="0.001199051902067 -0.000248361662016403 0.0213789854478657"
        rpy="0 0 0" />
      <mass
        value="0.01582395" />
      <inertia
        ixx="0.00000287"
        ixy="-0.00000001"
        ixz="-0.00000019"
        iyy="0.00000283"
        iyz="-0.00000012"
        izz="0.00000087" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinky_link2.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinky_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_pinky_joint2"
    type="revolute">
    <origin
      xyz="0 0 0.0558"
      rpy="0 0 0" />
    <parent
      link="right_hand_pinky_link1" />
    <child
      link="right_hand_pinky_link2" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="1.919"
      effort="0.4"
      velocity="14.38" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_pinkyback_link2">
    <inertial>
      <origin
        xyz="-0.00758843721876425 0.000157950438630629 -0.0176655210855414"
        rpy="0 0 0" />
      <mass
        value="0.00000001" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001"/>
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinkyback_link2.STL" />
      </geometry>
      <material
        name="RAL_9003_Signal_White">
        <color
          rgba="0.941 0.941 0.941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinkyback_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_pinkyback_joint2"
    type="fixed">
    <origin
      xyz="0 0 0.0422482924089405"
      rpy="0 0 0" />
    <parent
      link="right_hand_pinky_link2" />
    <child
      link="right_hand_pinkyback_link2" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
  <link
    name="right_hand_pinky_tip">
    <inertial>
      <origin
        xyz="1.17961196366423E-16 -2.91433543964104E-16 0"
        rpy="0 0 0" />
      <mass
        value="0.00000565" />
      <inertia
        ixx="0.00000000001"
        ixy="0.00000000001"
        ixz="0.00000000001"
        iyy="0.00000000001"
        iyz="0.00000000001"
        izz="0.00000000001"/>
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinky_tip.STL" />
      </geometry>
      <material
        name="RAL_9005_Jet_Black">
        <color
          rgba="0.055 0.055 0.063 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/right_hand_pinky_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_pinky_joint3"
    type="fixed">
    <origin
      xyz="0 0 0.0422482924089405"
      rpy="0 0 0" />
    <parent
      link="right_hand_pinky_link2" />
    <child
      link="right_hand_pinky_tip" />
    <axis
      xyz="0 0 0" />
    <dynamics
      damping="0"
      friction="0" />
  </joint>
</robot>
