<?xml version='1.0' encoding='utf-8'?>
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      <material name="gray" />
      <geometry>
        <mesh filename="package://allex_description/meshes/R_Thumb_Yaw_Gray.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://allex_description/meshes/R_Thumb_Yaw_Collision.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <link name="R_Ring_Fingertip">
    <visual>
      <material name="pad" />
      <geometry>
        <mesh filename="package://allex_description/meshes/Finger_Distal_Pad.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
  </link>
  <link name="R_Little_Distal_Link">
    <inertial>
      <origin xyz="-0.002635323 -3.528e-06 -0.00600072" rpy="-0.000862804857 0.0115442066 0.00375023956" />
      <mass value="0.00504" />
      <inertia ixx="3.48836915e-07" iyy="3.28166576e-07" izz="1.03707591e-07" ixy="0" ixz="0" iyz="0" />
    </inertial>
    <visual>
      <material name="gray" />
      <geometry>
        <mesh filename="package://allex_description/meshes/Finger_Distal_Gray.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://allex_description/meshes/Finger_Distal_Collision.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <link name="R_Little_Fingertip">
    <visual>
      <material name="pad" />
      <geometry>
        <mesh filename="package://allex_description/meshes/Finger_Distal_Pad.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
  </link>
  <link name="R_Middle_Roll_Link">
    <inertial>
      <origin xyz="-0.001315071 0.000324987 -0.001749841" rpy="-1.83820676 -1.15147144 -3.04825548" />
      <mass value="0.00611" />
      <inertia ixx="1.97980083e-07" iyy="1.35717767e-07" izz="1.02445316e-07" ixy="0" ixz="0" iyz="0" />
    </inertial>
    <visual>
      <material name="gray" />
      <geometry>
        <mesh filename="package://allex_description/meshes/Finger_Roll_Gray.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://allex_description/meshes/Finger_Roll_Collision.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <link name="R_Index_Roll_Link">
    <inertial>
      <origin xyz="-0.001315071 0.000324987 -0.001749841" rpy="-1.83820676 -1.15147144 -3.04825548" />
      <mass value="0.00611" />
      <inertia ixx="1.97980083e-07" iyy="1.35717767e-07" izz="1.02445316e-07" ixy="0" ixz="0" iyz="0" />
    </inertial>
    <visual>
      <material name="gray" />
      <geometry>
        <mesh filename="package://allex_description/meshes/Finger_Roll_Gray.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://allex_description/meshes/Finger_Roll_Collision.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <joint name="R_Thumb_Yaw_Joint" type="revolute">
    <parent link="R_Palm_Link" />
    <child link="R_Thumb_Yaw_Link" />
    <origin xyz="0.0098263 -0.0210097 0.0360889" rpy="-0.0857013198 0.12731092 0.126608008" />
    <axis xyz="0 0 -1" />
    <dynamics damping="0" friction="0.03874" />
    <limit lower="-2.617994" upper="0" effort="1.5" velocity="5" />
  </joint>
  <joint name="R_Index_ABAD_Joint" type="revolute">
    <parent link="R_Palm_Link" />
    <child link="R_Index_Roll_Link" />
    <origin xyz="-0.0186259 -0.0330567 -0.0383928" rpy="-0.111559433 -0.342338035 0.087060514" />
    <axis xyz="1 0 0" />
    <dynamics damping="0" friction="0.0137996" />
    <limit lower="-0.523599" upper="0.523599" effort="3.5" velocity="8" />
  </joint>
  <joint name="R_Middle_ABAD_Joint" type="revolute">
    <parent link="R_Palm_Link" />
    <child link="R_Middle_Roll_Link" />
    <origin xyz="-0.0197378 -0.0111686 -0.0403088" rpy="0 -0.349065878 0" />
    <axis xyz="1 0 0" />
    <dynamics damping="0" friction="0.0137996" />
    <limit lower="-0.523599" upper="0.523599" effort="3.5" velocity="8" />
  </joint>
  <joint name="R_Ring_ABAD_Joint" type="revolute">
    <parent link="R_Palm_Link" />
    <child link="R_Ring_Roll_Link" />
    <origin xyz="-0.0197763 0.0108314 -0.040309" rpy="0.111559433 -0.342338035 -0.087060514" />
    <axis xyz="1 0 0" />
    <dynamics damping="0" friction="0.0137996" />
    <limit lower="-0.523599" upper="0.523599" effort="3.5" velocity="8" />
  </joint>
  <joint name="R_Little_ABAD_Joint" type="revolute">
    <parent link="R_Palm_Link" />
    <child link="R_Little_Roll_Link" />
    <origin xyz="-0.0185852 0.0327196 -0.0383938" rpy="0.220991363 -0.322382983 -0.171647217" />
    <axis xyz="1 0 0" />
    <dynamics damping="0" friction="0.0137996" />
    <limit lower="-0.523599" upper="0.523599" effort="3.5" velocity="8" />
  </joint>
  <joint name="R_Little_MCP_Joint" type="revolute">
    <parent link="R_Little_Roll_Link" />
    <child link="R_Little_Proximal_Link" />
    <origin xyz="-0.003817 0 -0.0061246" rpy="0 0.349065878 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0.0456392" />
    <limit lower="-0.174532" upper="1.570796" effort="5" velocity="8" />
  </joint>
  <joint name="R_Little_PIP_Joint" type="revolute">
    <parent link="R_Little_Proximal_Link" />
    <child link="R_Little_Middle_Link" />
    <origin xyz="0 0 -0.052" rpy="0 0 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0.0210383" />
    <limit lower="0" upper="1.9198622" effort="3" velocity="10" />
  </joint>
  <joint name="R_Little_DIP_Joint" type="revolute">
    <parent link="R_Little_Middle_Link" />
    <child link="R_Little_Distal_Link" />
    <origin xyz="0.0019932 0 -0.0188952" rpy="0 0 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0" />
    <limit lower="0" upper="1.25999882" effort="0" velocity="10" />
    <mimic joint="R_Little_PIP_Joint" multiplier="0.656296489" offset="0" />
  </joint>
  <joint name="R_Little_Fingertip_fixed_joint" type="fixed">
    <parent link="R_Little_Distal_Link" />
    <child link="R_Little_Fingertip" />
    <origin xyz="0.0075 0 -0.011" rpy="0 0 0" />
  </joint>
  <joint name="R_Ring_MCP_Joint" type="revolute">
    <parent link="R_Ring_Roll_Link" />
    <child link="R_Ring_Proximal_Link" />
    <origin xyz="-0.003817 0 -0.0061246" rpy="0 0.349065878 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0.0456392" />
    <limit lower="-0.174532" upper="1.570796" effort="5" velocity="8" />
  </joint>
  <joint name="R_Ring_PIP_Joint" type="revolute">
    <parent link="R_Ring_Proximal_Link" />
    <child link="R_Ring_Middle_Link" />
    <origin xyz="0 0 -0.052" rpy="0 0 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0.0210383" />
    <limit lower="0" upper="1.9198622" effort="3" velocity="10" />
  </joint>
  <joint name="R_Ring_DIP_Joint" type="revolute">
    <parent link="R_Ring_Middle_Link" />
    <child link="R_Ring_Distal_Link" />
    <origin xyz="0.0019932 0 -0.0188952" rpy="0 0 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0" />
    <limit lower="0" upper="1.25999882" effort="0" velocity="10" />
    <mimic joint="R_Ring_PIP_Joint" multiplier="0.656296489" offset="0" />
  </joint>
  <joint name="R_Ring_Fingertip_fixed_joint" type="fixed">
    <parent link="R_Ring_Distal_Link" />
    <child link="R_Ring_Fingertip" />
    <origin xyz="0.0075 0 -0.011" rpy="0 0 0" />
  </joint>
  <joint name="R_Middle_MCP_Joint" type="revolute">
    <parent link="R_Middle_Roll_Link" />
    <child link="R_Middle_Proximal_Link" />
    <origin xyz="-0.003817 0 -0.0061246" rpy="0 0.349065878 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0.0456392" />
    <limit lower="-0.174532" upper="1.570796" effort="5" velocity="8" />
  </joint>
  <joint name="R_Middle_PIP_Joint" type="revolute">
    <parent link="R_Middle_Proximal_Link" />
    <child link="R_Middle_Middle_Link" />
    <origin xyz="0 0 -0.052" rpy="0 0 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0.0210383" />
    <limit lower="0" upper="1.9198622" effort="3" velocity="10" />
  </joint>
  <joint name="R_Middle_DIP_Joint" type="revolute">
    <parent link="R_Middle_Middle_Link" />
    <child link="R_Middle_Distal_Link" />
    <origin xyz="0.0019932 0 -0.0188952" rpy="0 0 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0" />
    <limit lower="0" upper="1.25999882" effort="0" velocity="10" />
    <mimic joint="R_Middle_PIP_Joint" multiplier="0.656296489" offset="0" />
  </joint>
  <joint name="R_Middle_Fingertip_fixed_joint" type="fixed">
    <parent link="R_Middle_Distal_Link" />
    <child link="R_Middle_Fingertip" />
    <origin xyz="0.0075 0 -0.011" rpy="0 0 0" />
  </joint>
  <joint name="R_Index_MCP_Joint" type="revolute">
    <parent link="R_Index_Roll_Link" />
    <child link="R_Index_Proximal_Link" />
    <origin xyz="-0.003817 0 -0.0061246" rpy="0 0.349065878 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0.0456392" />
    <limit lower="-0.174532" upper="1.570796" effort="5" velocity="8" />
  </joint>
  <joint name="R_Index_PIP_Joint" type="revolute">
    <parent link="R_Index_Proximal_Link" />
    <child link="R_Index_Middle_Link" />
    <origin xyz="0 0 -0.052" rpy="0 0 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0.0210383" />
    <limit lower="0" upper="1.9198622" effort="3" velocity="10" />
  </joint>
  <joint name="R_Index_DIP_Joint" type="revolute">
    <parent link="R_Index_Middle_Link" />
    <child link="R_Index_Distal_Link" />
    <origin xyz="0.0019932 0 -0.0188952" rpy="0 0 0" />
    <axis xyz="0 -1 0" />
    <dynamics damping="0" friction="0" />
    <limit lower="0" upper="1.25999882" effort="0" velocity="10" />
    <mimic joint="R_Index_PIP_Joint" multiplier="0.656296489" offset="0" />
  </joint>
  <joint name="R_Index_Fingertip_fixed_joint" type="fixed">
    <parent link="R_Index_Distal_Link" />
    <child link="R_Index_Fingertip" />
    <origin xyz="0.0075 0 -0.011" rpy="0 0 0" />
  </joint>
  <joint name="R_Thumb_CMC_Joint" type="revolute">
    <parent link="R_Thumb_Yaw_Link" />
    <child link="R_Thumb_Proximal_Link" />
    <origin xyz="0 -0.0139985 -0.0323434" rpy="0.268480431 0 0" />
    <axis xyz="1 0 0" />
    <dynamics damping="0" friction="0.05879" />
    <limit lower="0" upper="1.570796" effort="4.5" velocity="8" />
  </joint>
  <joint name="R_Thumb_MCP_Joint" type="revolute">
    <parent link="R_Thumb_Proximal_Link" />
    <child link="R_Thumb_Middle_Link" />
    <origin xyz="0 -0.0501371 0.0137939" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <dynamics damping="0" friction="0.0185" />
    <limit lower="0" upper="1.570796" effort="3" velocity="8" />
  </joint>
  <joint name="R_Thumb_IP_Joint" type="revolute">
    <parent link="R_Thumb_Middle_Link" />
    <child link="R_Thumb_Distal_Link" />
    <origin xyz="0 -0.022 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
    <dynamics damping="0" friction="0" />
    <limit lower="0" upper="1.14964202" effort="0" velocity="8" />
    <mimic joint="R_Thumb_MCP_Joint" multiplier="0.731884995" offset="0" />
  </joint>
  <joint name="R_Thumb_Fingertip_fixed_joint" type="fixed">
    <parent link="R_Thumb_Distal_Link" />
    <child link="R_Thumb_Fingertip" />
    <origin xyz="0 -0.011 -0.006" rpy="0 0 0" />
  </joint>
</robot>