xarm6_allegro_right.urdf

<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from xarm6_robot.urdf.xacro         | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="xarm6_allegro">
  <link name="world"/>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="link_base"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <material name="Black">
    <color rgba="0.0 0.0 0.0 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>
  <material name="Silver">
    <color rgba="0.753 0.753 0.753 1.0"/>
  </material>
  <link name="link_base">
    <visual>
      <geometry>
        <mesh filename="visual/base.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="collision/base_vhacd.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
      <mass value="2.7"/>
      <inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
    </inertial>
  </link>
  <link name="link1">
    <visual>
      <geometry>
        <mesh filename="visual/link1.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="collision/link1_vhacd.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
      <mass value="2.16"/>
      <inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <parent link="link_base"/>
    <child link="link1"/>
    <origin rpy="0 0 0" xyz="0 0 0.267"/>
    <axis xyz="0 0 1"/>
    <limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link2">
    <visual>
      <geometry>
        <mesh filename="visual/link2.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="collision/link2_vhacd2.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
      <mass value="1.71"/>
      <inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link3">
    <visual>
      <geometry>
        <mesh filename="visual/link3.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="collision/link3_vhacd.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
      <mass value="1.384"/>
      <inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <parent link="link2"/>
    <child link="link3"/>
    <origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="32.0" lower="-3.927" upper="0.19198" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link4">
    <visual>
      <geometry>
        <mesh filename="visual/link4.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="collision/link4_vhacd.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
      <mass value="1.115"/>
      <inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <parent link="link3"/>
    <child link="link4"/>
    <origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link5">
    <visual>
      <geometry>
        <mesh filename="visual/link5.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="collision/link5_vhacd.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
      <mass value="1.275"/>
      <inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <parent link="link4"/>
    <child link="link5"/>
    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="32.0" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link6">
    <visual>
      <geometry>
        <mesh filename="visual/link6.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="Silver"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="collision/link6_vhacd.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
      <mass value="0.1096"/>
      <inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <parent link="link5"/>
    <child link="link6"/>
    <origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>

  <joint name="gripper_base_joint" type="fixed">
    <origin rpy="0 0 3.1416" xyz="0.0 0 0.095"/>
    <parent link="link6"/>
    <child link="base_link"/>
    <axis xyz="0 0 0"/>
  </joint>

  <!-- ============================================================================= -->
  <!-- FINGERS -->
  <!-- RIGHT HAND due to which finger is number 0 -->
  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
  <link name="base_link">
    <inertial>
      <mass value="0.4154"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/base_link.glb"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0 "/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
      <geometry>
        <box size="0.0414 0.112 0.0448"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
      <geometry>
        <box size="0.0414 0.0538 0.0428"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
      <geometry>
        <box size="0.0414 0.0720 0.013"/>
      </geometry>
    </collision>
  </link> 
  
  <!--  virtual link-->
  <link name="palm"/>
  <joint name="palm_joint" type="fixed">
    <parent link="base_link"/>
    <child link="palm"/>
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
  </joint> 

  <!--  virtual link-->
  <link name="wrist"/>
  <joint name="wrist_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.03"/>
    <parent link="palm"/>
    <child link="wrist"/>
  </joint>

  <link name="link_0.0">
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_0.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0164"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
    </collision>
    <inertial>
      <mass value="0.0119"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
    </inertial>
  </link>
  <joint name="joint_0.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
    <parent link="base_link"/>
    <child link="link_0.0"/>
    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
  </joint>
  <link name="link_1.0">
    <inertial>
      <mass value="0.065"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_1.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.054"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.027"/>
    </collision>
  </link>
  <joint name="joint_1.0" type="revolute">
    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
    <axis xyz="0 1 0"/>
    <parent link="link_0.0"/>
    <child link="link_1.0"/>
    <origin xyz="0 0 0.0164"/>
  </joint>
  <link name="link_2.0">
    <inertial>
      <mass value="0.0355"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_2.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0384"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
    </collision>
  </link>
  <joint name="joint_2.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
    <parent link="link_1.0"/>
    <child link="link_2.0"/>
    <origin xyz="0 0 0.054"/>
  </joint>
  <link name="link_3.0">
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_3.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0269 0.022"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
      <mass value="0.02"/>
      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
    </inertial>
  </link>
  <joint name="joint_3.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
    <parent link="link_2.0"/>
    <child link="link_3.0"/>
    <origin xyz="0 0 0.0384"/>
  </joint>
  <link name="link_3.0_tip">
    <inertial>
      <mass value="0.0168"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_tip.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../allegro/meshes/collision/link_tip.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_3.0_tip" type="fixed">
    <parent link="link_3.0"/>
    <child link="link_3.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <link name="link_4.0">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_0.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0164"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
    </collision>
  </link>
  <joint name="joint_4.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
    <parent link="base_link"/>
    <child link="link_4.0"/>
    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
  </joint>
  <link name="link_5.0">
    <inertial>
      <mass value="0.065"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_1.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.054"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.027"/>
    </collision>
  </link>
  <joint name="joint_5.0" type="revolute">
    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
    <axis xyz="0 1 0"/>
    <parent link="link_4.0"/>
    <child link="link_5.0"/>
    <origin xyz="0 0 0.0164"/>
  </joint>
  <link name="link_6.0">
    <inertial>
      <mass value="0.0355"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_2.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0384"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
    </collision>
  </link>
  <joint name="joint_6.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
    <parent link="link_5.0"/>
    <child link="link_6.0"/>
    <origin xyz="0 0 0.054"/>
  </joint>
  <link name="link_7.0">
    <inertial>
      <mass value="0.0388"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_3.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0269 0.022"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
    </collision>
  </link>
  <joint name="joint_7.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
    <parent link="link_6.0"/>
    <child link="link_7.0"/>
    <origin xyz="0 0 0.0384"/>
  </joint>
  <link name="link_7.0_tip">
    <inertial>
      <mass value="0.0096"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_tip.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../allegro/meshes/collision/link_tip.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_7.0_tip" type="fixed">
    <parent link="link_7.0"/>
    <child link="link_7.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <link name="link_8.0">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_0.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0164"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
    </collision>
  </link>
  <joint name="joint_8.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
    <parent link="base_link"/>
    <child link="link_8.0"/>
    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
  </joint>
  <link name="link_9.0">
    <inertial>
      <mass value="0.065"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_1.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.054"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.027"/>
    </collision>
  </link>
  <joint name="joint_9.0" type="revolute">
    <limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
    <axis xyz="0 1 0"/>
    <parent link="link_8.0"/>
    <child link="link_9.0"/>
    <origin xyz="0 0 0.0164"/>
  </joint>
  <link name="link_10.0">
    <inertial>
      <mass value="0.0355"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_2.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0384"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
    </collision>
  </link>
  <joint name="joint_10.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
    <parent link="link_9.0"/>
    <child link="link_10.0"/>
    <origin xyz="0 0 0.054"/>
  </joint>
  <link name="link_11.0">
    <inertial>
      <mass value="0.0096"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_3.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0269 0.022"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0047"/>
    </collision>
  </link>
  <joint name="joint_11.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
    <parent link="link_10.0"/>
    <child link="link_11.0"/>
    <origin xyz="0 0 0.0384"/>
  </joint>
  <link name="link_11.0_tip">
    <inertial>
      <mass value="0.0168"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_tip.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../allegro/meshes/collision/link_tip.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_11.0_tip" type="fixed">
    <parent link="link_11.0"/>
    <child link="link_11.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint> <!-- THUMB -->
  <link name="link_12.0">
    <inertial>
      <mass value="0.0176"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_12.0_right.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0358 0.034 0.0455"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
    </collision>
  </link>
  <joint name="joint_12.0" type="revolute">
    <axis xyz="-1 0 0"/>
    <limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
    <parent link="base_link"/>
    <child link="link_12.0"/>
    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
  </joint>
  <link name="link_13.0">
    <inertial>
      <mass value="0.0119"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_13.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0177"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
    </collision>
  </link>
  <joint name="joint_13.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
    <parent link="link_12.0"/>
    <child link="link_13.0"/>
    <origin xyz="-0.027 0.005 0.0399"/>
  </joint>
  <link name="link_14.0">
    <inertial>
      <mass value="0.038"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_14.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0514"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
    </collision>
  </link>
  <joint name="joint_14.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
    <parent link="link_13.0"/>
    <child link="link_14.0"/>
    <origin xyz="0 0 0.0177"/>
  </joint>
  <link name="link_15.0">
    <inertial>
      <mass value="0.0388"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_15.0.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0269 0.04"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.01125"/>
    </collision>
  </link>
  <joint name="joint_15.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
    <parent link="link_14.0"/>
    <child link="link_15.0"/>
    <origin xyz="0 0 0.0514"/>
  </joint>
  <link name="link_15.0_tip">
    <inertial>
      <mass value="0.0168"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="../allegro/meshes/visual/link_tip.glb"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../allegro/meshes/collision/link_tip.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_15.0_tip" type="fixed">
    <parent link="link_15.0"/>
    <child link="link_15.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
  </joint>

</robot>