<robot name="g1_29dof_mode_15_brainco_hand">
  <material name="dark">
    <color rgba="0.2 0.2 0.2 1"/>
  </material>
  <material name="white">
    <color rgba="0.7 0.7 0.7 1"/>
  </material>

  <mujoco>
    <compiler meshdir="meshes" discardvisual="false" balanceinertia="true"/>
  </mujoco>

  <!-- [CAUTION] uncomment when convert to mujoco -->
  <!-- <link name="world"></link>
  <joint name="floating_base_joint" type="floating">
    <parent link="world"/>
    <child link="pelvis"/>
  </joint> -->

  <link name="pelvis">
    <inertial>
      <origin xyz="0 0 -0.07605" rpy="0 0 0"/>
      <mass value="3.813"/>
      <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
  </link>
  <link name="pelvis_contour_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis_contour_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis_contour_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="pelvis_contour_joint" type="fixed">
    <parent link="pelvis"/>
    <child link="pelvis_contour_link"/>
  </joint>

  <!-- Legs -->
  <link name="left_hip_pitch_link">
    <inertial>
      <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
      <mass value="1.35"/>
      <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_pitch_joint" type="revolute">
    <origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="left_hip_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20"/>
  </joint>
  <link name="left_hip_roll_link">
    <inertial>
      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
      <mass value="1.52"/>
      <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_roll_joint" type="revolute">
    <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
    <parent link="left_hip_pitch_link"/>
    <child link="left_hip_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
  </joint>
  <link name="left_hip_yaw_link">
    <inertial>
      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
      <mass value="1.702"/>
      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_yaw_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_yaw_joint" type="revolute">
    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
    <parent link="left_hip_roll_link"/>
    <child link="left_hip_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
  </joint>
  <link name="left_knee_link">
    <inertial>
      <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
      <mass value="1.932"/>
      <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_knee_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_knee_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_knee_joint" type="revolute">
    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
    <parent link="left_hip_yaw_link"/>
    <child link="left_knee_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
  </joint>
  <link name="left_ankle_pitch_link">
    <inertial>
      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
      <mass value="0.074"/>
      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_pitch_joint" type="revolute">
    <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
    <parent link="left_knee_link"/>
    <child link="left_ankle_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
  </joint>
  <link name="left_ankle_roll_link">
    <inertial>
      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
      <mass value="0.608"/>
      <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_roll_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_roll_joint" type="revolute">
    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
    <parent link="left_ankle_pitch_link"/>
    <child link="left_ankle_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
  </joint>
  <link name="right_hip_pitch_link">
    <inertial>
      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
      <mass value="1.35"/>
      <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_pitch_joint" type="revolute">
    <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="right_hip_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.5307" upper="2.8798" effort="139" velocity="20"/>
  </joint>
  <link name="right_hip_roll_link">
    <inertial>
      <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
      <mass value="1.52"/>
      <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_roll_joint" type="revolute">
    <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
    <parent link="right_hip_pitch_link"/>
    <child link="right_hip_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
  </joint>
  <link name="right_hip_yaw_link">
    <inertial>
      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
      <mass value="1.702"/>
      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_yaw_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_yaw_joint" type="revolute">
    <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
    <parent link="right_hip_roll_link"/>
    <child link="right_hip_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
  </joint>
  <link name="right_knee_link">
    <inertial>
      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
      <mass value="1.932"/>
      <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_knee_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_knee_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_knee_joint" type="revolute">
    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
    <parent link="right_hip_yaw_link"/>
    <child link="right_knee_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
  </joint>
  <link name="right_ankle_pitch_link">
    <inertial>
      <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
      <mass value="0.074"/>
      <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_pitch_joint" type="revolute">
    <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
    <parent link="right_knee_link"/>
    <child link="right_ankle_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.87267" upper="0.5236" effort="35" velocity="30"/>
  </joint>
  <link name="right_ankle_roll_link">
    <inertial>
      <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
      <mass value="0.608"/>
      <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_roll_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_roll_joint" type="revolute">
    <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
    <parent link="right_ankle_pitch_link"/>
    <child link="right_ankle_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.2618" upper="0.2618" effort="35" velocity="30"/>
  </joint>

  <!-- Torso -->
  <link name="waist_yaw_link">
    <inertial>
      <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0"/>
      <mass value="0.214"/>
      <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/waist_yaw_link_rev_1_0.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
  </link>
  <joint name="waist_yaw_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="waist_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
  </joint>
  <link name="waist_roll_link">
    <inertial>
      <origin xyz="0 2.3E-05 0" rpy="0 0 0"/>
      <mass value="0.086"/>
      <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/waist_roll_link_rev_1_0.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
  </link>
  <joint name="waist_roll_joint" type="revolute">
    <origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
    <parent link="waist_yaw_link"/>
    <child link="waist_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
  </joint>
  <link name="torso_link">
    <inertial>
      <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
      <mass value="6.78"/>
      <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/torso_link_rev_1_0.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="waist_pitch_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="waist_roll_link"/>
    <child link="torso_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.52" upper="0.52" effort="35" velocity="30"/>
  </joint>

  <!-- LOGO -->
  <joint name="logo_joint" type="fixed">
    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="logo_link"/>
  </joint>
  <link name="logo_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/logo_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/logo_link.STL"/>
      </geometry>
    </collision>
  </link>

  <!-- Head -->
  <link name="head_link">
    <inertial>
      <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
      <mass value="1.036"/>
      <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/head_link.STL"/>
      </geometry>
      <material name="dark"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/head_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_joint" type="fixed">
    <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="head_link"/>
  </joint>


  <!-- IMU -->
  <link name="imu_in_torso"></link>
  <joint name="imu_in_torso_joint" type="fixed">
    <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="imu_in_torso"/>
  </joint>

  <link name="imu_in_pelvis"></link>
  <joint name="imu_in_pelvis_joint" type="fixed">
    <origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="imu_in_pelvis"/>
  </joint>

  <!-- d435 -->
  <link name="d435_link"></link>
  <joint name="d435_joint" type="fixed">
    <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
    <parent link="torso_link"/>
    <child link="d435_link"/>
  </joint>

  <!-- mid360 -->
  <link name="mid360_link"></link>
  <joint name="mid360_joint" type="fixed">
    <origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
    <parent link="torso_link"/>
    <child link="mid360_link"/>
  </joint>

  <!-- Arm -->
  <link name="left_shoulder_pitch_link">
    <inertial>
      <origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
      <mass value="0.718"/>
      <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
      <geometry>
        <cylinder radius="0.03" length="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_pitch_joint" type="revolute">
    <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
    <parent link="torso_link"/>
    <child link="left_shoulder_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
  </joint>
  <link name="left_shoulder_roll_link">
    <inertial>
      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
      <mass value="0.643"/>
      <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.03" length="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_roll_joint" type="revolute">
    <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
    <parent link="left_shoulder_pitch_link"/>
    <child link="left_shoulder_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
  </joint>
  <link name="left_shoulder_yaw_link">
    <inertial>
      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
      <mass value="0.734"/>
      <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_yaw_joint" type="revolute">
    <origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
    <parent link="left_shoulder_roll_link"/>
    <child link="left_shoulder_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
  </joint>
  <link name="left_elbow_link">
    <inertial>
      <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
      <mass value="0.6"/>
      <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_elbow_joint" type="revolute">
    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
    <parent link="left_shoulder_yaw_link"/>
    <child link="left_elbow_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
  </joint>

  <!-- BrainCo begin -->
  <joint name="left_wrist_roll_joint" type="revolute">
    <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <parent link="left_elbow_link"/>
    <child link="left_wrist_roll_link"/>
    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
  </joint>
  <link name="left_wrist_roll_link">
    <inertial>
      <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
      <mass value="0.08544498"/>
      <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_roll_link.STL"/>
      </geometry>
      <material name="white">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_wrist_pitch_joint" type="revolute">
    <origin xyz="0.038 0 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="left_wrist_roll_link"/>
    <child link="left_wrist_pitch_link"/>
    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
  </joint>
  <link name="left_wrist_pitch_link">
    <inertial>
      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
      <mass value="0.48404956"/>
      <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
      </geometry>
      <material name="white">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_wrist_yaw_joint" type="revolute">
    <origin xyz="0.046 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <parent link="left_wrist_pitch_link"/>
    <child link="left_wrist_yaw_link"/>
    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
  </joint>
  <link name="left_wrist_yaw_link">
    <inertial>
      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
      <mass value="0.08457647"/>
      <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_yaw_link.STL"/>
      </geometry>
      <material name="white">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="left_base2_joint" type="fixed">
    <origin xyz="0.0415 0 0" rpy="0 0 0"/>
    <parent link="left_wrist_yaw_link"/>
    <child link="left_base2_link"/>
  </joint>
  <link name="left_base2_link">
    <inertial>
      <origin xyz="-0.00283400 0 0.00000145" rpy="0 0 0"/>
      <mass value="0.02280635"/>
      <inertia ixx="0.00000768" ixy="0.00000000" ixz="0.00000000" iyy="0.00000580" iyz="-0.00000000" izz="0.00000427"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_base2_link.STL"/>
      </geometry>
      <material name="white">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_base2_link.STL"/>
      </geometry>
    </collision>
  </link>


  <joint name="left_base_joint" type="fixed">
    <origin xyz="0.0591 0 0" rpy="-1.570796326 0 -1.570796326"/>
    <parent link="left_wrist_yaw_link"/>
    <child link="left_base_link"/>
  </joint>
  <link name="left_base_link">
    <inertial>
      <origin xyz="-0.00478670623240344 0.00141981128680179 0.0505239077176535" rpy="0 0 0"/>
      <mass value="0.238"/>
      <inertia ixx="2.2266510056133E-05" ixy="-2.6318583761649E-07" ixz="1.83638592892823E-07" iyy="1.55367220548952E-05" iyz="1.26586485241028E-06" izz="8.58669326263691E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="left_thumb_metacarpal_Link">
    <inertial>
      <origin xyz="1.52303696287007E-05 -0.00707240283482268 -0.00420839832903629" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="1.59238866130872E-07" ixy="4.69114607598504E-09" ixz="4.93233725002146E-10" iyy="1.60911967461755E-07" iyz="1.48144948560702E-08" izz="5.13544258620214E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_metacarpal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_metacarpal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_metacarpal_joint" type="revolute">
    <origin xyz="0.0045 -0.019 0.027825" rpy="0 0 0.16787"/>
    <parent link="left_base_link"/>
    <child link="left_thumb_metacarpal_Link"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.5184" effort="0.5" velocity="2.6175"/>
  </joint>
  <link name="left_thumb_proximal_Link">
    <inertial>
      <origin xyz="3.41001513141231E-07 0.0250090688174992 -0.0017505675193664" rpy="0 0 0"/>
      <mass value="0.05"/>
      <inertia ixx="3.23318665954068E-06" ixy="1.54514148596387E-10" ixz="-1.24375216968143E-11" iyy="5.64488567432875E-07" iyz="5.04309083812214E-08" izz="3.39928573090826E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_proximal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_proximal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_proximal_joint" type="revolute">
    <origin xyz="0 -0.014227 0" rpy="0.17488 -0.23736 2.9737"/>
    <parent link="left_thumb_metacarpal_Link"/>
    <child link="left_thumb_proximal_Link"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="1.0472" effort="1.1" velocity="2.5303"/>
  </joint>
  <link name="left_thumb_distal_Link">
    <inertial>
      <origin xyz="-1.65618684180163E-07 0.0117550891981017 1.1366609064185E-05" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="1.6780928553031E-07" ixy="1.91856562375255E-11" ixz="-2.694752026736E-12" iyy="1.15357239984326E-07" iyz="1.25182560702848E-08" izz="2.1956615213811E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_distal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_distal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_distal_joint" type="revolute">
    <origin xyz="0 0.052 0" rpy="0 0 0"/>
    <parent link="left_thumb_proximal_Link"/>
    <child link="left_thumb_distal_Link"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="1.0472" effort="1.1" velocity="2.5303"/>
    <mimic joint="left_thumb_proximal_joint" multiplier="1" offset="0"/>
  </joint>
  <link name="left_thumb_tip_Link">
    <inertial>
      <origin xyz="-4.85722573273506E-17 -4.16333634234434E-17 -3.46944695195361E-18" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_tip_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_tip_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_tip_joint" type="revolute">
    <origin xyz="0 0.026528781163583 -0.00177344281307927" rpy="0.0667504507189052 0 3.14159265358979"/>
    <parent link="left_thumb_distal_Link"/>
    <child link="left_thumb_tip_Link"/>
    <axis xyz="-1 0 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="left_index_proximal_Link">
    <inertial>
      <origin xyz="-0.002235387426012 -3.80544615179342E-06 0.0176439423080373" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="2.51863526940901E-07" ixy="-3.10934654014177E-11" ixz="-6.36901300651624E-09" iyy="2.36343210839019E-07" iyz="-1.71663811116817E-10" izz="9.30397543724724E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_proximal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_proximal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_index_proximal_joint" type="revolute">
    <origin xyz="-0.0021349 -0.029578 0.080876" rpy="0.11819 0.14743 0.17422"/>
    <parent link="left_base_link"/>
    <child link="left_index_proximal_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685"/>
  </joint>
  <link name="left_index_distal_Link">
    <inertial>
      <origin xyz="0.00418325886379583 -8.45607972810303E-08 0.0153641608762859" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="3.65266271559531E-07" ixy="5.6892108332606E-13" ixz="-1.02335061442931E-07" iyy="3.96961530855654E-07" iyz="7.73961385851005E-13" izz="1.04991723103838E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_distal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_distal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_index_distal_joint" type="revolute">
    <origin xyz="0 0 0.032" rpy="0 0 0"/>
    <parent link="left_index_proximal_Link"/>
    <child link="left_index_distal_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.693" effort="2" velocity="2.2685"/>
    <mimic joint="left_index_proximal_joint" multiplier="1.155" offset="0"/>
  </joint>
  <link name="left_index_tip_Link">
    <inertial>
      <origin xyz="6.69832245225876E-13 9.73495589695617E-12 2.23557283796083E-13" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_tip_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_tip_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_index_tip_joint" type="revolute">
    <origin xyz="0.011097 0 0.035739" rpy="0 0.48723 0"/>
    <parent link="left_index_distal_Link"/>
    <child link="left_index_tip_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="1" upper="1" effort="1" velocity="1"/>
  </joint>
  <link name="left_middle_proximal_Link">
    <inertial>
      <origin xyz="-0.00222419445309931 -3.61990820813615E-06 0.0203049526045434" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="3.66885320718611E-07" ixy="-3.64303343703497E-11" ixz="-9.77995332041374E-09" iyy="3.5252138716754E-07" iyz="-2.5809821190624E-10" izz="1.12242284171831E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_proximal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_proximal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_middle_proximal_joint" type="revolute">
    <origin xyz="-0.0045935 -0.010061 0.084993" rpy="0.039468 0.1483 0.057975"/>
    <parent link="left_base_link"/>
    <child link="left_middle_proximal_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685"/>
  </joint>
  <link name="left_middle_distal_Link">
    <inertial>
      <origin xyz="0.00269750139301865 3.27210103736979E-07 0.0183076461156786" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="5.88341898887764E-07" ixy="-1.34073376318216E-12" ixz="-1.04743131832206E-07" iyy="6.07118927271625E-07" iyz="-1.31817421243194E-11" izz="1.11265454837883E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_distal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_distal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_middle_distal_joint" type="revolute">
    <origin xyz="0 0 0.037" rpy="0 0.12654 0"/>
    <parent link="left_middle_proximal_Link"/>
    <child link="left_middle_distal_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.693" effort="2" velocity="2.2685"/>
    <mimic joint="left_middle_proximal_joint" multiplier="1.155" offset="0"/>
  </joint>
  <link name="left_middle_tip_Link">
    <inertial>
      <origin xyz="3.12250225675825E-16 -1.90819582357449E-17 5.55111512312578E-17" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_tip_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_tip_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_middle_tip_joint" type="revolute">
    <origin xyz="0.0073534 0 0.041703" rpy="0 0.34907 0"/>
    <parent link="left_middle_distal_Link"/>
    <child link="left_middle_tip_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="1" upper="1" effort="1" velocity="1"/>
  </joint>
  <link name="left_ring_proximal_Link">
    <inertial>
      <origin xyz="-0.00234461360118865 -5.32058096490429E-06 0.0191785931520923" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="3.1418221085363E-07" ixy="-3.44825864493742E-11" ixz="-7.78011903077359E-09" iyy="2.97623388067888E-07" iyz="-2.45023710126388E-10" izz="1.02120946203075E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_proximal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_proximal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ring_proximal_joint" type="revolute">
    <origin xyz="-0.00468767815858587 0.0100262714211602 0.0839819548795939" rpy="-0.0394618478609065 0.147209177132223 -0.0579317909005277"/>
    <parent link="left_base_link"/>
    <child link="left_ring_proximal_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685"/>
  </joint>
  <link name="left_ring_distal_Link">
    <inertial>
      <origin xyz="0.00249839540877306 -2.78996376279483E-08 0.0177055538603162" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="5.40369389752843E-07" ixy="-3.16120850919061E-12" ixz="-9.71738751449028E-08" iyy="5.56818359755755E-07" iyz="-5.08675656941986E-12" izz="1.03096676549004E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_distal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_distal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ring_distal_joint" type="revolute">
    <origin xyz="0 0 0.035" rpy="0 0.12654 0"/>
    <parent link="left_ring_proximal_Link"/>
    <child link="left_ring_distal_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.693" effort="2" velocity="2.2685"/>
    <mimic joint="left_ring_proximal_joint" multiplier="1.155" offset="0"/>
  </joint>
  <link name="left_ring_tip_Link">
    <inertial>
      <origin xyz="3.05311331771918E-16 3.46944695195361E-17 2.77555756156289E-17" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_tip_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_tip_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ring_tip_joint" type="revolute">
    <origin xyz="0.0071824 0 0.040734" rpy="0 0.34907 0"/>
    <parent link="left_ring_distal_Link"/>
    <child link="left_ring_tip_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="1" upper="1" effort="1" velocity="1"/>
  </joint>
  <link name="left_pinky_proximal_Link">
    <inertial>
      <origin xyz="-0.00213266608574047 -7.02260316783054E-06 0.0160680350593264" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="1.97554078210582E-07" ixy="-1.34133676966608E-11" ixz="-4.58601823842206E-09" iyy="1.82022483454667E-07" iyz="-1.01838144940489E-10" izz="8.21758160050774E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_pinky_proximal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_pinky_proximal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_pinky_proximal_joint" type="revolute">
    <origin xyz="-0.0023733 0.029356 0.078694" rpy="-0.11815 0.14491 -0.17392"/>
    <parent link="left_base_link"/>
    <child link="left_pinky_proximal_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685"/>
  </joint>
  <link name="left_pinky_distal_Link">
    <inertial>
      <origin xyz="0.0039856213046876 -8.08551930131518E-08 0.014106664402408" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="2.88250623683654E-07" ixy="-1.42865648587319E-12" ixz="-7.78112273929214E-08" iyy="3.10833114148178E-07" iyz="1.51641220465817E-13" izz="9.12872269672051E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_pinky_distal_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_pinky_distal_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_pinky_distal_joint" type="revolute">
    <origin xyz="0 0 0.029" rpy="0 0 0"/>
    <parent link="left_pinky_proximal_Link"/>
    <child link="left_pinky_distal_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.693" effort="2" velocity="2.2685"/>
    <mimic joint="left_pinky_proximal_joint" multiplier="1.155" offset="0"/>
  </joint>
  <link name="left_pinky_tip_Link">
    <inertial>
      <origin xyz="2.63677968348475E-16 -4.09394740330526E-16 5.55111512312578E-17" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="-0" izz="1.63624617374468E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_pinky_tip_Link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_pinky_tip_Link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_pinky_tip_joint" type="revolute">
    <origin xyz="0.010221 0 0.032918" rpy="0 0.4756 0"/>
    <parent link="left_pinky_distal_Link"/>
    <child link="left_pinky_tip_Link"/>
    <axis xyz="0 1 0"/>
    <limit lower="1" upper="1" effort="1" velocity="1"/>
  </joint>
  <!-- BrainCo end -->


  <link name="right_shoulder_pitch_link">
    <inertial>
      <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
      <mass value="0.718"/>
      <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
      <geometry>
        <cylinder radius="0.03" length="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_pitch_joint" type="revolute">
    <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
    <parent link="torso_link"/>
    <child link="right_shoulder_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
  </joint>
  <link name="right_shoulder_roll_link">
    <inertial>
      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
      <mass value="0.643"/>
      <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.03" length="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_roll_joint" type="revolute">
    <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
    <parent link="right_shoulder_pitch_link"/>
    <child link="right_shoulder_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
  </joint>
  <link name="right_shoulder_yaw_link">
    <inertial>
      <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
      <mass value="0.734"/>
      <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_yaw_joint" type="revolute">
    <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
    <parent link="right_shoulder_roll_link"/>
    <child link="right_shoulder_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
  </joint>
  <link name="right_elbow_link">
    <inertial>
      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
      <mass value="0.6"/>
      <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_elbow_joint" type="revolute">
    <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
    <parent link="right_shoulder_yaw_link"/>
    <child link="right_elbow_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
  </joint>

  <!-- BrainCo begin -->
  <joint name="right_wrist_roll_joint" type="revolute">
    <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <parent link="right_elbow_link"/>
    <child link="right_wrist_roll_link"/>
    <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
  </joint>
  <link name="right_wrist_roll_link">
    <inertial>
      <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0"/>
      <mass value="0.08544498"/>
      <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_roll_link.STL"/>
      </geometry>
      <material name="white">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_wrist_pitch_joint" type="revolute">
    <origin xyz="0.038 0 0" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="right_wrist_roll_link"/>
    <child link="right_wrist_pitch_link"/>
    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
  </joint>
  <link name="right_wrist_pitch_link">
    <inertial>
      <origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0"/>
      <mass value="0.48404956"/>
      <inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
      </geometry>
      <material name="white">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_wrist_yaw_joint" type="revolute">
    <origin xyz="0.046 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <parent link="right_wrist_pitch_link"/>
    <child link="right_wrist_yaw_link"/>
    <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
  </joint>
  <link name="right_wrist_yaw_link">
    <inertial>
      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
      <mass value="0.08457647"/>
      <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_yaw_link.STL"/>
      </geometry>
      <material name="white">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="right_base2_joint" type="fixed">
    <origin xyz="0.0415 0 0" rpy="0 0 0"/>
    <parent link="right_wrist_yaw_link"/>
    <child link="right_base2_link"/>
  </joint>
  <link name="right_base2_link">
    <inertial>
      <origin xyz="-0.00283400 0 0.00000145" rpy="0 0 0"/>
      <mass value="0.02280635"/>
      <inertia ixx="0.00000768" ixy="0.00000000" ixz="0.00000000" iyy="0.00000580" iyz="-0.00000000" izz="0.00000427"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_base2_link.STL"/>
      </geometry>
      <material name="white">
        <color rgba="0.7 0.7 0.7 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_base2_link.STL"/>
      </geometry>
    </collision>
  </link>


  <joint name="right_base_joint" type="fixed">
    <origin xyz="0.0591 0 0" rpy="1.570796326 0 1.570796326"/>
    <parent link="right_wrist_yaw_link"/>
    <child link="right_base_link"/>
  </joint>

  <link name="right_base_link">
    <inertial>
      <origin xyz="-0.00477210157415217 -0.0014368255627066 0.0505186815078315" rpy="0 0 0"/>
      <mass value="0.238"/>
      <inertia ixx="2.22653147661907E-05" ixy="2.61914657870284E-07" ixz="1.85322175528149E-07" iyy="1.55386682543955E-05" iyz="-1.26178670079141E-06" izz="8.58493952480684E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="right_thumb_metacarpal_link">
    <inertial>
      <origin xyz="-1.51105893291953E-05 0.00707242532016975 0.00420847293427094" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="1.59239837111329E-07" ixy="4.69100836631313E-09" ixz="4.92933775261589E-10" iyy="1.60913456568321E-07" iyz="1.48146725871811E-08" izz="5.13550255314669E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_thumb_metacarpal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_thumb_metacarpal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_thumb_metacarpal_joint" type="revolute">
    <origin xyz="0.005619 0.019867 0.027825" rpy="3.1416 0 2.9637"/>
    <parent link="right_base_link"/>
    <child link="right_thumb_metacarpal_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.5184" effort="0.5" velocity="2.6175"/>
  </joint>
  <link name="right_thumb_proximal_link">
    <inertial>
      <origin xyz="-4.57221370792071E-07 0.0250090111157988 -0.0017504940716868" rpy="0 0 0"/>
      <mass value="0.05"/>
      <inertia ixx="3.23319868561771E-06" ixy="-1.19078810940838E-10" ixz="1.24464917587322E-11" iyy="5.64505997265396E-07" iyz="5.04129402047053E-08" izz="3.39928433889051E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_thumb_proximal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_thumb_proximal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_thumb_proximal_joint" type="revolute">
    <origin xyz="0 0.014227 0" rpy="-2.9667 -0.23736 2.9737"/>
    <parent link="right_thumb_metacarpal_link"/>
    <child link="right_thumb_proximal_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="1.0472" effort="1.1" velocity="2.5303"/>
  </joint>
  <link name="right_thumb_distal_link">
    <inertial>
      <origin xyz="-5.88258313588552E-09 0.0117544716247142 1.13324397438969E-05" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="1.67793545309794E-07" ixy="7.15927847824524E-12" ixz="-6.80095370887594E-12" iyy="1.15362128819332E-07" iyz="1.2517499089377E-08" izz="2.19553178338424E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_thumb_distal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_thumb_distal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_thumb_distal_joint" type="revolute">
    <origin xyz="0 0.052 0" rpy="0 0 0"/>
    <parent link="right_thumb_proximal_link"/>
    <child link="right_thumb_distal_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="1.0472" effort="1.1" velocity="2.5303"/>
    <mimic joint="right_thumb_proximal_joint" multiplier="1" offset="0"/>
  </joint>
  <link name="right_thumb_tip">
    <inertial>
      <origin xyz="0 -8.79922039356273E-05 -1.73472347597681E-18" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="-0" ixz="-0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374469E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_thumb_tip.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_thumb_tip.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_thumb_tip" type="revolute">
    <origin xyz="0 0.026529 -0.0017734" rpy="-0.06675 0 0"/>
    <parent link="right_thumb_distal_link"/>
    <child link="right_thumb_tip"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="right_index_proximal_link">
    <inertial>
      <origin xyz="-0.00223495193199565 3.15874577787312E-06 0.0176402020341366" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="2.51945688372283E-07" ixy="1.19772964297344E-11" ixz="-6.37275644668915E-09" iyy="2.36435336139899E-07" iyz="1.65019165740605E-10" izz="9.30351046594029E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_index_proximal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_index_proximal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_index_proximal_joint" type="revolute">
    <origin xyz="-0.0021181 0.029568 0.080876" rpy="-0.11819 0.14743 -0.17422"/>
    <parent link="right_base_link"/>
    <child link="right_index_proximal_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685"/>
  </joint>
  <link name="right_index_distal_link">
    <inertial>
      <origin xyz="0.0041834128909843 1.16430016613989E-07 0.0153643358620559" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="3.65279317721019E-07" ixy="-2.87605986323987E-12" ixz="-1.02338200214364E-07" iyy="3.96973285716405E-07" iyz="-3.64509010623639E-12" izz="1.04994687350786E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_index_distal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_index_distal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_index_distal_joint" type="revolute">
    <origin xyz="0 0 0.032" rpy="0 0 0"/>
    <parent link="right_index_proximal_link"/>
    <child link="right_index_distal_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.693" effort="2" velocity="2.2685"/>
    <mimic joint="right_index_proximal_joint" multiplier="1.155" offset="0"/>
  </joint>
  <link name="right_index_tip">
    <inertial>
      <origin xyz="0 6.93889390390723E-18 2.77555756156289E-17" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="-0" ixz="0" iyy="1.63624617374468E-7" iyz="-0" izz="1.63624617374468E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_index_tip.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_index_tip.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_index_tip_joint" type="revolute">
    <origin xyz="0.011097 0 0.035739" rpy="0 0.4756 0"/>
    <parent link="right_index_distal_link"/>
    <child link="right_index_tip"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="right_middle_proximal_link">
    <inertial>
      <origin xyz="-0.00222511101223747 5.25632286623237E-06 0.0203007776295123" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="3.6699623719538E-07" ixy="2.68340899395606E-11" ixz="-9.79836587937101E-09" iyy="3.52645347928613E-07" iyz="2.57865582739813E-10" izz="1.12233932527467E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_middle_proximal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_middle_proximal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_middle_proximal_joint" type="revolute">
    <origin xyz="-0.0045767 0.010051 0.084993" rpy="-0.039468 0.1483 -0.057975"/>
    <parent link="right_base_link"/>
    <child link="right_middle_proximal_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685"/>
  </joint>
  <link name="right_middle_distal_link">
    <inertial>
      <origin xyz="0.00498634699274855 3.20799606209204E-07 0.0178210324631583" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="5.54531287704842E-07" ixy="-3.8261699427749E-12" ixz="-1.61139304348347E-07" iyy="6.07133284933246E-07" iyz="-1.20510743801577E-11" izz="1.45091120995859E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_middle_distal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_middle_distal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_middle_distal_joint" type="revolute">
    <origin xyz="0 0 0.037" rpy="0 0 0"/>
    <parent link="right_middle_proximal_link"/>
    <child link="right_middle_distal_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.693" effort="2" velocity="2.2685"/>
    <mimic joint="right_middle_proximal_joint" multiplier="1.155" offset="0"/>
  </joint>
  <link name="right_middle_tip">
    <inertial>
      <origin xyz="0 -3.46944695195361E-18 0" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="-0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_middle_tip.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_middle_tip.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_middle_tip_joint" type="revolute">
    <origin xyz="0.012558 0 0.040442" rpy="0 0.4756 0"/>
    <parent link="right_middle_distal_link"/>
    <child link="right_middle_tip"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="right_ring_proximal_link">
    <inertial>
      <origin xyz="-0.00234494526421452 5.87954755615957E-06 0.019177402549597" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="3.14177684848335E-07" ixy="3.34382331089794E-11" ixz="-7.78981780892178E-09" iyy="2.97613170150896E-07" iyz="2.41251871803812E-10" izz="1.0211543233675E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ring_proximal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ring_proximal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ring_proximal_joint" type="revolute">
    <origin xyz="-0.0046709 -0.010037 0.083982" rpy="0.039462 0.14721 0.057932"/>
    <parent link="right_base_link"/>
    <child link="right_ring_proximal_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685"/>
  </joint>
  <link name="right_ring_distal_link">
    <inertial>
      <origin xyz="0.0047128205390484 -2.41851534580478E-08 0.0172486576240172" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="5.09075595345636E-07" ixy="-3.1183534714212E-12" ixz="-1.48822343330519E-07" iyy="5.56818020505642E-07" iyz="-3.81405399596009E-12" izz="1.34389180077007E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ring_distal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ring_distal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ring_distal_joint" type="revolute">
    <origin xyz="0 0 0.035" rpy="0 0 0"/>
    <parent link="right_ring_proximal_link"/>
    <child link="right_ring_distal_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.693" effort="2" velocity="2.2685"/>
    <mimic joint="right_ring_proximal_joint" multiplier="1.155" offset="0"/>
  </joint>
  <link name="right_ring_tip">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="-0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ring_tip.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ring_tip.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ring_tip_joint" type="revolute">
    <origin xyz="0.012266 0 0.039501" rpy="0 0.4756 0"/>
    <parent link="right_ring_distal_link"/>
    <child link="right_ring_tip"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="right_pinky_proximal_link">
    <inertial>
      <origin xyz="-0.00213212021184178 7.75039446098032E-06 0.0160671583560383" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="1.97563213550085E-07" ixy="2.23402433057897E-11" ixz="-4.5842566369208E-09" iyy="1.82023043083307E-07" iyz="1.08028441152503E-10" izz="8.21624712033168E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_pinky_proximal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_pinky_proximal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_pinky_proximal_joint" type="revolute">
    <origin xyz="-0.0023566 -0.029366 0.078694" rpy="0.11815 0.14491 0.17392"/>
    <parent link="right_base_link"/>
    <child link="right_pinky_proximal_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.4661" effort="2" velocity="2.2685"/>
  </joint>
  <link name="right_pinky_distal_link">
    <inertial>
      <origin xyz="0.00398575709812823 -1.18733454507539E-07 0.0141073520225541" rpy="0 0 0"/>
      <mass value="0.009"/>
      <inertia ixx="2.88287304139793E-07" ixy="8.06230341569425E-13" ixz="-7.78224822397468E-08" iyy="3.10873492837471E-07" iyz="3.24621869724066E-12" izz="9.12935606299289E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_pinky_distal_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_pinky_distal_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_pinky_distal_joint" type="revolute">
    <origin xyz="0 0 0.029" rpy="0 0 0"/>
    <parent link="right_pinky_proximal_link"/>
    <child link="right_pinky_distal_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="1.693" effort="2" velocity="2.2685"/>
    <mimic joint="right_pinky_proximal_joint" multiplier="1.155" offset="0"/>
  </joint>
  <link name="right_pinky_tip">
    <inertial>
      <origin xyz="3.46944695195361E-18 -5.20417042793042E-18 0" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.63624617374468E-7" ixy="0" ixz="0" iyy="1.63624617374468E-7" iyz="0" izz="1.63624617374468E-7"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_pinky_tip.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_pinky_tip.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_pinky_tip_joint" type="revolute">
    <origin xyz="0.010221 0 0.032918" rpy="0 0.4756 0"/>
    <parent link="right_pinky_distal_link"/>
    <child link="right_pinky_tip"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <!-- BrainCo end -->
</robot>