<robot name="bhand_model">
  <link name="base_link">
    <inertial>
      <origin xyz="-1.53444878605399E-05 -0.00277693660903533 0.0352882290973172" rpy="0 0 0"/>
      <mass value="0.377966381303299"/>
      <inertia ixx="0.000427326373018601" ixy="2.6443337984506E-07" ixz="-2.02908063714989E-07" iyy="0.000361316175967098" iyz="-3.0792687327603E-05" izz="0.000376798128588446"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/base_link.glb"/>
      </geometry>
    </visual>
    <collision> <!-- base_cylinder -->
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/collision/base_link_cylinder.obj"/>
      </geometry>
    </collision>
    <collision> <!-- base_link -->
      <origin xyz="0 -0.011 0.054" rpy="0 0 0"/>
      <geometry>
        <box size="0.026 0.108 0.026"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 0 0.072" rpy="0 0 0"/>
      <geometry>
        <box size="0.076 0.046 0.014"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 0.032 0.068" rpy="-0.39 0 0"/>
      <geometry>
        <box size="0.026 0.02 0.01"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 -0.035 0.07" rpy="-1.03 0 0"/>
      <geometry>
        <box size="0.026 0.02 0.01"/>
      </geometry>
    </collision>
  </link>
  <link name="finger_1_prox_link">
    <inertial>
      <origin xyz="-0.0288648917008988 9.98379746692153E-05 0.0171253477569802" rpy="0 0 0"/>
      <mass value="56143.0626955765E-5"/>
      <inertia ixx="10.4484040652085E-5" ixy="-0.117861448219975E-5" ixz="-5.31613760585343E-5" iyy="33.9552353012776E-5" iyz="0.0780041192837706E-5" izz="29.3669090518615E-5"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/prox_link.glb"/>
      </geometry>
    </visual>
    <collision>   <!-- finger1_prox_link -->
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/collision/prox_link_cylinder.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.029 0 0.012" rpy="0 0 0"/>
      <geometry>
        <box size="0.07 0.024 0.026"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.036 0 0.03" rpy="0 1.029 0"/>
      <geometry>
        <box size="0.02 0.026 0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_1_prox_joint" type="revolute">
    <origin xyz="0.025 0 0.0415" rpy="0 2.7051E-17 -1.5708"/>
    <parent link="base_link"/>
    <child link="finger_1_prox_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.141" upper="0" effort="0" velocity="10"/>
  </joint>
  <link name="finger_1_med_liink">
    <inertial>
      <origin xyz="-0.030918176135544 0.0019693024932544 0.000743369842666108" rpy="0 0 0"/>
      <mass value="31321.1214212939E-5"/>
      <inertia ixx="2.18512832127284E-5" ixy="-0.844484268309696E-5" ixz="0.0135401272401385E-5" iyy="17.3596441998536E-5" iyz="-0.001126692167519E-5" izz="17.7656644395659E-5"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/med_link.glb"/>
      </geometry>
    </visual>
    <collision> <!-- finger1_med_link -->
      <origin xyz="-0.04 0.003 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.036 0.024 0.018"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.006 0.001 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.032 0.022 0.01"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.068 0.003 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.02 0.022 0.01"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.019 0.001 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.008 0.022 0.018"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_1_med_joint" type="revolute">
    <origin xyz="-0.05 0 0.0339" rpy="1.5708 -8.8281E-17 0"/>
    <parent link="finger_1_prox_link"/>
    <child link="finger_1_med_liink"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.44" upper="0" effort="0" velocity="10"/>
  </joint>
  <link name="finger_1_dist_link">
    <inertial>
      <origin xyz="-0.018331495851456 0.017563370050582 0.000497127783315291" rpy="0 0 0"/>
      <mass value="19342.3312257343E-5"/>
      <inertia ixx="3.67466110522623E-5" ixy="-2.57800680786605E-5" ixz="-0.0345727635031181E-5" iyy="4.08727012680705E-5" iyz="0.0329223427372985E-5" izz="5.99395386650428E-5"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/dist_link.glb"/>
      </geometry>
    </visual>
    <collision> <!-- finger1_disk_link -->
      <origin xyz="-0.022 0.023 0" rpy="0 0 0.8988"/>
      <geometry>
        <box size="0.014 0.038 0.02"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.002 0.002 0" rpy="0 0 0.7766"/>
      <geometry>
        <box size="0.018 0.022 0.02"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.038 0.034 0" rpy="0 0 1.614"/>
      <geometry>
        <box size="0.012 0.012 0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_1_dist_joint" type="revolute">
    <origin xyz="-0.069936 0.003 0" rpy="1.6787E-18 -3.6382E-15 -6.1073E-33"/>
    <parent link="finger_1_med_liink"/>
    <child link="finger_1_dist_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.785" upper="0" effort="0" velocity="10"/>
  </joint>
  <link name="finger_2_prox_link">
    <inertial>
      <origin xyz="-0.0288648917008987 9.98379746692118E-05 0.0171253477569802" rpy="0 0 0"/>
      <mass value="56143.0626955765E-5"/>
      <inertia ixx="10.4484040652085E-5" ixy="-0.117861448219975E-5" ixz="-5.31613760585343E-5" iyy="33.9552353012776E-5" iyz="0.0780041192837701E-5" izz="29.3669090518615E-5"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/prox_link.glb"/>
      </geometry>
    </visual>
    <collision>   <!-- finger2_prox_link -->
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/collision/prox_link_cylinder.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.029 0 0.012" rpy="0 0 0"/>
      <geometry>
        <box size="0.07 0.024 0.026"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.036 0 0.03" rpy="0 1.029 0"/>
      <geometry>
        <box size="0.02 0.026 0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_2_prox_joint" type="revolute">
    <origin xyz="-0.025 0 0.0415" rpy="0 2.7051E-17 -1.5708"/>
    <parent link="base_link"/>
    <child link="finger_2_prox_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="3.141" effort="0" velocity="10"/>
  </joint>
  <link name="finger_2_med_link">
    <inertial>
      <origin xyz="-0.0309061378225848 0.00214997948654991 0.000743369814045599" rpy="0 0 0"/>
      <mass value="31321.1215499126E-5"/>
      <inertia ixx="2.19551825824831E-5" ixy="-0.933117181988174E-5" ixz="0.0135333166873642E-5" iyy="17.3492542935561E-5" iyz="-0.00120585854514789E-5" izz="17.7656644132238E-5"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/med_link.glb"/>
      </geometry>
    </visual>
    <collision> <!-- finger2_med_link -->
      <origin xyz="-0.04 0.003 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.036 0.024 0.018"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.006 0.001 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.032 0.022 0.01"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.068 0.003 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.02 0.022 0.01"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.019 0.001 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.008 0.022 0.018"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_2_med_joint" type="revolute">
    <origin xyz="-0.05 0 0.0339" rpy="1.5708 -8.8281E-17 0"/>
    <parent link="finger_2_prox_link"/>
    <child link="finger_2_med_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.44" upper="0" effort="0" velocity="10"/>
  </joint>
  <link name="finger_2_dist_link">
    <inertial>
      <origin xyz="-0.0181940669984822 0.017705695005231 0.000497127783261171" rpy="0 0 0"/>
      <mass value="19342.3313295693E-5"/>
      <inertia ixx="3.71486604025429E-5" ixy="-2.58090906930852E-5" ixz="-0.0343151446338957E-5" iyy="4.04706522522361E-5" iyz="0.0331907761165059E-5" izz="5.99395390717116E-5"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/dist_link.glb"/>
      </geometry>
    </visual>
    <collision> <!-- finger2_disk_link -->
      <origin xyz="-0.022 0.023 0" rpy="0 0 0.8988"/>
      <geometry>
        <box size="0.014 0.038 0.02"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.002 0.002 0" rpy="0 0 0.7766"/>
      <geometry>
        <box size="0.018 0.022 0.02"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.038 0.034 0" rpy="0 0 1.614"/>
      <geometry>
        <box size="0.012 0.012 0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_2_dist_joint" type="revolute">
    <origin xyz="-0.069917 0.0034087 0" rpy="-3.1382E-17 -2.3229E-16 0"/>
    <parent link="finger_2_med_link"/>
    <child link="finger_2_dist_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.785" upper="0" effort="0" velocity="10"/>
  </joint>
  <link name="finger_3_med_link">
    <inertial>
      <origin xyz="-0.0309181761355441 0.00196930249325443 0.000743369842666415" rpy="0 0 0"/>
      <mass value="31321.121421294E-5"/>
      <inertia ixx="2.18512832127284E-5" ixy="-0.844484268309696E-5" ixz="0.0135401272400822E-5" iyy="17.3596441998537E-5" iyz="-0.0011266921675151E-5" izz="17.7656644395659E-5"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/med_link.glb"/>
      </geometry>
    </visual>
    <collision> <!-- finger3_med_link -->
      <origin xyz="-0.04 0.003 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.036 0.024 0.018"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.006 0.001 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.032 0.022 0.01"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.068 0.003 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.02 0.022 0.01"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.019 0.001 0.001" rpy="0 0 0"/>
      <geometry>
        <box size="0.008 0.022 0.018"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_3_med_joint" type="revolute">
    <origin xyz="0 -0.05 0.0754" rpy="1.5708 6.123E-17 1.5708"/>
    <parent link="base_link"/>
    <child link="finger_3_med_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.44" upper="0" effort="0" velocity="10"/>
  </joint>
  <link name="finger_3_dist_link">
    <inertial>
      <origin xyz="-0.0183314958518909 0.0175633700501297 0.000497127783323787" rpy="0 0 0"/>
      <mass value="19342.3312257343E-5"/>
      <inertia ixx="3.67466110509902E-5" ixy="-2.57800680785588E-5" ixz="-0.0345727635040649E-5" iyy="4.08727012693427E-5" iyz="0.0329223427365976E-5" izz="5.99395386650428E-5"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/dist_link.glb"/>
      </geometry>
    </visual>
    <collision> <!-- finger3_disk_link -->
      <origin xyz="-0.022 0.023 0" rpy="0 0 0.8988"/>
      <geometry>
        <box size="0.014 0.038 0.02"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.002 0.002 0" rpy="0 0 0.7766"/>
      <geometry>
        <box size="0.018 0.022 0.02"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.038 0.034 0" rpy="0 0 1.614"/>
      <geometry>
        <box size="0.012 0.012 0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_3_dist_joint" type="revolute">
    <origin xyz="-0.069936 0.003 0" rpy="6.0427E-17 -6.7283E-18 -4.0657E-34"/>
    <parent link="finger_3_med_link"/>
    <child link="finger_3_dist_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.785" upper="0" effort="0" velocity="10"/>
  </joint>
</robot>
