ur5e_inspire_left/ur5e_inspire_right_hand_glb.urdf

<?xml version="1.0" encoding="utf-8"?>
<robot name="ur5e_shadow_right">
  <link name="base_link"/>
  <link name="base_link_inertia">
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/visual/base.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/collision/base.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
    </inertial>
  </link>
  <link name="shoulder_link">
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/visual/shoulder.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/collision/shoulder.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.7"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
    </inertial>
  </link>
  <link name="upper_arm_link">
    <visual>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.138"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/visual/upperarm.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.138"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/collision/upperarm.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="8.393"/>
      <origin rpy="0 1.57079632679 0" xyz="-0.2125 0.0 0.138"/>
      <inertia ixx="0.133885781862" ixy="0.0" ixz="0.0" iyy="0.133885781862" iyz="0.0" izz="0.0151074"/>
    </inertial>
  </link>
  <link name="forearm_link">
    <visual>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.007"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/visual/forearm.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.007"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/collision/forearm.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.275"/>
      <origin rpy="0 1.57079632679 0" xyz="-0.1961 0.0 0.007"/>
      <inertia ixx="0.0312093550996" ixy="0.0" ixz="0.0" iyy="0.0312093550996" iyz="0.0" izz="0.004095"/>
    </inertial>
  </link>
  <link name="wrist_1_link">
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.127"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/visual/wrist1.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.127"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/collision/wrist1.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.00255989897604" ixy="0.0" ixz="0.0" iyy="0.00255989897604" iyz="0.0" izz="0.0021942"/>
    </inertial>
  </link>
  <link name="wrist_2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.0997"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/visual/wrist2.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0997"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/collision/wrist2.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.00255989897604" ixy="0.0" ixz="0.0" iyy="0.00255989897604" iyz="0.0" izz="0.0021942"/>
    </inertial>
  </link>
  <link name="wrist_3_link">
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.0989"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/visual/wrist3.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.0989"/>
      <geometry>
        <mesh filename=".././arms/ur5e/meshes/collision/wrist3.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1879"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0229"/>
      <inertia ixx="9.89041005217e-05" ixy="0.0" ixz="0.0" iyy="9.89041005217e-05" iyz="0.0" izz="0.0001321171875"/>
    </inertial>
  </link>
  <!-- joints: main serial chain -->
  <joint name="base_link-base_link_inertia" type="fixed">
    <parent link="base_link"/>
    <child link="base_link_inertia"/>
    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
           frames of the robot/controller have X+ pointing backwards.
           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
           link/frame) to introduce the necessary rotation over Z (of pi rad).
      -->
    <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
  </joint>
  <joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link_inertia"/>
    <child link="shoulder_link"/>
    <origin rpy="0 0 0" xyz="0 0 0.1625"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.14159265359"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="wrist_1_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_1_link"/>
    <origin rpy="0 0 0" xyz="-0.3922 0 0.1333"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="wrist_2_joint" type="revolute">
    <parent link="wrist_1_link"/>
    <child link="wrist_2_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 -0.0997 -2.0448811823e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="wrist_3_joint" type="revolute">
    <parent link="wrist_2_link"/>
    <child link="wrist_3_link"/>
    <origin rpy="1.57079632659 3.14159265359 3.14159265359" xyz="0 0.0996 -2.04283014801e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base_fixed_joint" type="fixed">
    <!-- Note the rotation over Z of pi radians: as base_link is REP-103
           aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
           to correctly align 'base' with the 'Base' coordinate system of
           the UR controller.
      -->
    <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
  <link name="ee_link"/>
  <joint name="wrist_3-flange" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="ee_link"/>
    <!-- <origin rpy="0 -1.57079632679 -1.57079632679" xyz="0 0 0"/> -->
    <origin rpy="0 0 -1.5707926" xyz="0 0 0"/>
  </joint>

  <!--  right hand-->
  <joint name="hand_base_joint" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="hand_base_link"/>
    <origin xyz="0 0 0" rpy="-1.57079 0 1.57079"/>
  </joint>
  <link name="hand_base_link">
    <inertial>
      <origin xyz="-0.0025264 -0.066047 0.0019598" rpy="0 0 0"/>
      <mass value="0.14143"/>
      <inertia ixx="0.00012281" ixy="2.1711E-06" ixz="1.7709E-06" iyy="8.3832E-05" iyz="-1.6551E-06" izz="7.6663E-05"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_base_link.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 -0.0136 0" rpy="1.57079 0 0"/>
      <geometry>
        <cylinder length="0.0278" radius="0.028"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.0032 -0.038 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.0391 0.0202 0.0574"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.0032 -0.0682 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.0391 0.04 0.0814"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 -0.1081 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.0322 0.04 0.0814"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.0016 -0.1340 0.0309" rpy="0 0 0"/>
      <geometry>
        <box size="0.0125 0.0111 0.0089"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.0016 -0.1340 0.0118" rpy="0 0 0"/>
      <geometry>
        <box size="0.0125 0.0111 0.0089"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.0016 -0.1340 -0.0070" rpy="0 0 0"/>
      <geometry>
        <box size="0.0125 0.0111 0.0089"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.0016 -0.1340 -0.0262" rpy="0 0 0"/>
      <geometry>
        <box size="0.0125 0.0111 0.0089"/>
      </geometry>
    </collision>
  </link>
  <link name="thumb_proximal_base">
    <inertial>
      <origin xyz="-0.0048064 0.0009382 -0.00757" rpy="0 0 0"/>
      <mass value="0.0018869"/>
      <inertia ixx="5.816E-08" ixy="1.4539E-08" ixz="4.491E-09" iyy="7.9161E-08" iyz="-1.8727E-09" izz="6.7433E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_thumb_proximal_base.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_thumb_proximal_base.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="thumb_proximal_yaw_joint" type="revolute">
    <origin xyz="-0.01696 -0.0691 -0.02045" rpy="1.5708 -1.5708 0"/>
    <parent link="hand_base_link"/>
    <child link="thumb_proximal_base"/>
    <axis xyz="0 0 -1"/>
    <limit lower="0.0" upper="1.308" effort="1" velocity="0.5"/>
  </joint>
  <link name="thumb_proximal">
    <inertial>
      <origin xyz="0.021932 0.012785 -0.0080386" rpy="0 0 0"/>
      <mass value="0.0066075"/>
      <inertia ixx="1.5686E-06" ixy="-7.8296E-07" ixz="8.9143E-10" iyy="1.7353E-06" iyz="-1.0191E-09" izz="2.786E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_thumb_proximal.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_thumb_proximal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="thumb_proximal_pitch_joint" type="revolute">
    <origin xyz="-0.0088099 0.010892 -0.00925" rpy="1.5708 0 2.8587"/>
    <parent link="thumb_proximal_base"/>
    <child link="thumb_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="0.6" effort="1" velocity="0.5"/>
  </joint>
  <link name="thumb_intermediate">
    <inertial>
      <origin xyz="0.0095544 -0.0016282 -0.0071997" rpy="0 0 0"/>
      <mass value="0.0037847"/>
      <inertia ixx="3.6981E-07" ixy="-9.8581E-08" ixz="-4.7469E-12" iyy="3.2394E-07" iyz="1.0939E-12" izz="4.6531E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_thumb_intermediate.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_thumb_intermediate.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="thumb_intermediate_joint" type="revolute">
    <origin xyz="0.04407 0.034553 -0.0008" rpy="0 0 0"/>
    <parent link="thumb_proximal"/>
    <child link="thumb_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="0.8" effort="1" velocity="0.5"/>
    <mimic joint="thumb_proximal_pitch_joint" multiplier="1.334" offset="0"/>
  </joint>
  <link name="thumb_distal">
    <inertial>
      <origin xyz="0.0092888 0.0049529 -0.0060033" rpy="0 0 0"/>
      <mass value="0.0033441"/>
      <inertia ixx="1.3632E-07" ixy="-5.6788E-08" ixz="-9.2764E-11" iyy="1.4052E-07" iyz="-1.2283E-10" izz="2.0026E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_thumb_distal.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_thumb_distal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="thumb_distal_joint" type="revolute">
    <origin xyz="0.020248 0.010156 -0.0012" rpy="0 0 0"/>
    <parent link="thumb_intermediate"/>
    <child link="thumb_distal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="0.4" effort="1" velocity="0.5"/>
    <mimic joint="thumb_proximal_pitch_joint" multiplier="0.667" offset="0"/>
  </joint>
  <link name="index_proximal">
    <inertial>
      <origin xyz="0.0012259 0.011942 -0.0060001" rpy="0 0 0"/>
      <mass value="0.0042403"/>
      <inertia ixx="6.6232E-07" ixy="-1.5775E-08" ixz="1.8515E-12" iyy="2.1146E-07" iyz="-5.0828E-12" izz="6.9398E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_index_proximal.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_index_proximal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="index_proximal_joint" type="revolute">
    <origin xyz="0.00028533 -0.13653 -0.032268" rpy="-3.1067 0 0"/>
    <parent link="hand_base_link"/>
    <child link="index_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.47" effort="1" velocity="0.5"/>
  </joint>
  <link name="index_intermediate">
    <inertial>
      <origin xyz="0.0019697 0.019589 -0.005" rpy="0 0 0"/>
      <mass value="0.0045683"/>
      <inertia ixx="7.6111E-07" ixy="8.7637E-08" ixz="-3.7751E-13" iyy="9.6076E-08" iyz="9.9444E-13" izz="7.8179E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_index_intermediate.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_index_intermediate.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="index_intermediate_joint" type="revolute">
    <origin xyz="-0.0026138 0.032026 -0.001" rpy="0 0 0"/>
    <parent link="index_proximal"/>
    <child link="index_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.04545" upper="1.56" effort="1" velocity="0.5"/>
    <mimic joint="index_proximal_joint" multiplier="1.06399" offset="-0.04545"/>
  </joint>
  <link name="middle_proximal">
    <inertial>
      <origin xyz="0.001297 0.011934 -0.0060001" rpy="0 0 0"/>
      <mass value="0.0042403"/>
      <inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.8002E-12" iyy="2.1167E-07" iyz="-6.6808E-12" izz="6.9397E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_index_proximal.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_index_proximal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="middle_proximal_joint" type="revolute">
    <origin xyz="0.00028533 -0.1371 -0.01295" rpy="-3.1416 0 0"/>
    <parent link="hand_base_link"/>
    <child link="middle_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.47" effort="1" velocity="0.5"/>
  </joint>
  <link name="middle_intermediate">
    <inertial>
      <origin xyz="0.001921 0.020796 -0.005" rpy="0 0 0"/>
      <mass value="0.0050396"/>
      <inertia ixx="9.5822E-07" ixy="1.1425E-07" ixz="-2.4791E-12" iyy="1.0646E-07" iyz="5.9173E-12" izz="9.8384E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_middle_intermediate.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_middle_intermediate.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="middle_intermediate_joint" type="revolute">
    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0"/>
    <parent link="middle_proximal"/>
    <child link="middle_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.04545" upper="1.56" effort="1" velocity="0.5"/>
    <mimic joint="middle_proximal_joint" multiplier="1.06399" offset="-0.04545"/>
  </joint>
  <link name="ring_proximal">
    <inertial>
      <origin xyz="0.001297 0.011934 -0.0060002" rpy="0 0 0"/>
      <mass value="0.0042403"/>
      <inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.5793E-12" iyy="2.1167E-07" iyz="-6.6868E-12" izz="6.9397E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_index_proximal.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_index_proximal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="ring_proximal_joint" type="revolute">
    <origin xyz="0.00028533 -0.13691 0.0062872" rpy="3.0892 0 0"/>
    <parent link="hand_base_link"/>
    <child link="ring_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.47" effort="1" velocity="0.5"/>
  </joint>
  <link name="ring_intermediate">
    <inertial>
      <origin xyz="0.0021753 0.019567 -0.005" rpy="0 0 0"/>
      <mass value="0.0045683"/>
      <inertia ixx="7.6286E-07" ixy="8.0635E-08" ixz="-6.1562E-13" iyy="9.431E-08" iyz="5.8619E-13" izz="7.8177E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_index_intermediate.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_index_intermediate.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="ring_intermediate_joint" type="revolute">
    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0"/>
    <parent link="ring_proximal"/>
    <child link="ring_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.04545" upper="1.56" effort="1" velocity="0.5"/>
    <mimic joint="ring_proximal_joint" multiplier="1.06399" offset="-0.04545"/>
  </joint>
  <link name="pinky_proximal">
    <inertial>
      <origin xyz="0.001297 0.011934 -0.0060001" rpy="0 0 0"/>
      <mass value="0.0042403"/>
      <inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.6907E-12" iyy="2.1167E-07" iyz="-6.9334E-12" izz="6.9397E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_index_proximal.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_index_proximal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="pinky_proximal_joint" type="revolute">
    <origin xyz="0.00028533 -0.13571 0.025488" rpy="3.0369 0 0"/>
    <parent link="hand_base_link"/>
    <child link="pinky_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.47" effort="1" velocity="0.5"/>
  </joint>
  <link name="pinky_intermediate">
    <inertial>
      <origin xyz="0.0024748 0.016203 -0.0050031" rpy="0 0 0"/>
      <mass value="0.0035996"/>
      <inertia ixx="4.3913E-07" ixy="4.1418E-08" ixz="3.7168E-11" iyy="7.0247E-08" iyz="5.8613E-11" izz="4.4867E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/visual/right_pinky_intermediate.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename=".././hands/inspire_hand/meshes/collision/right_pinky_intermediate.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="pinky_intermediate_joint" type="revolute">
    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0"/>
    <parent link="pinky_proximal"/>
    <child link="pinky_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.04545" upper="1.56" effort="1" velocity="0.5"/>
    <mimic joint="pinky_proximal_joint" multiplier="1.06399" offset="-0.04545"/>
  </joint>

  <!--  right fingertip-->
  <link name='thumb_tip'/>
  <joint name="thumb_tip_joint" type="fixed">
    <origin xyz="0.0202 0.0140 -0.006" rpy="0 0 0"/>
    <parent link="thumb_distal"/>
    <child link="thumb_tip"/>
  </joint>
  <link name='index_tip'/>
  <joint name="index_tip_joint" type="fixed">
    <origin xyz="-0.0008 0.045 -0.005" rpy="0 0 0"/>
    <parent link="index_intermediate"/>
    <child link="index_tip"/>
  </joint>
  <link name='middle_tip'/>
  <joint name="middle_tip_joint" type="fixed">
    <origin xyz="-0.001 0.048 -0.005" rpy="0 0 0"/>
    <parent link="middle_intermediate"/>
    <child link="middle_tip"/>
  </joint>
  <link name='ring_tip'/>
  <joint name="ring_tip_joint" type="fixed">
    <origin xyz="-0.0008 0.045 -0.005" rpy="0 0 0"/>
    <parent link="ring_intermediate"/>
    <child link="ring_tip"/>
  </joint>
  <link name='pinky_tip'/>
  <joint name="pinky_tip_joint" type="fixed">
    <origin xyz="-0.0008 0.037 -0.005" rpy="0 0 0"/>
    <parent link="pinky_intermediate"/>
    <child link="pinky_tip"/>
  </joint>
</robot>