<robot name="Lhand">

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

  <!-- <link name="world"></link>
  <joint name="floating_base_joint" type="floating">
    <parent link="world"/>
    <child link="right_wrist_yaw_link"/>
  </joint> -->

  <link name="right_wrist_yaw_link"></link>

  <joint name="R_base_link_joint" type="fixed">
    <origin xyz="0.0415 0 0" rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398"/>
    <parent link="right_wrist_yaw_link"/>
    <child link="R_hand_base_link"/>
  </joint>

  <link name="R_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="meshes/R_hand_base_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/R_hand_base_link.STL"/>
      </geometry>
    </collision>
  </link>

  <link name="R_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="meshes/Link11_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link11_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_thumb_proximal_yaw_joint" type="revolute">
    <origin xyz="-0.01696 -0.0691 -0.02045" rpy="1.5708 -1.5708 0"/>
    <parent link="R_hand_base_link"/>
    <child link="R_thumb_proximal_base"/>
    <axis xyz="0 0 -1"/>
    <limit lower="-0.1" upper="1.3" effort="1" velocity="0.5"/>
  </joint>

  <link name="R_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="meshes/Link12_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link12_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_thumb_proximal_pitch_joint" type="revolute">
    <origin xyz="-0.0088099 0.010892 -0.00925" rpy="1.5708 0 2.8587"/>
    <parent link="R_thumb_proximal_base"/>
    <child link="R_thumb_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.1" upper="0.6" effort="1" velocity="0.5"/>
  </joint>

  <link name="R_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="meshes/Link13_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link13_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_thumb_intermediate_joint" type="revolute">
    <origin xyz="0.04407 0.034553 -0.0008" rpy="0 0 0"/>
    <parent link="R_thumb_proximal"/>
    <child link="R_thumb_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="0.8" effort="1" velocity="0.5"/>
    <mimic joint="R_thumb_proximal_pitch_joint" multiplier="1.6" offset="0"/>
  </joint>

  <link name="R_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="meshes/Link14_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link14_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_thumb_distal_joint" type="revolute">
    <origin xyz="0.020248 0.010156 -0.0012" rpy="0 0 0"/>
    <parent link="R_thumb_intermediate"/>
    <child link="R_thumb_distal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.2" effort="1" velocity="0.5"/>
    <mimic joint="R_thumb_proximal_pitch_joint" multiplier="2.4" offset="0"/>
  </joint>

  <link name="R_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="meshes/Link15_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link15_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_index_proximal_joint" type="revolute">
    <origin xyz="0.00028533 -0.13653 -0.032268" rpy="-3.1067 0 0"/>
    <parent link="R_hand_base_link"/>
    <child link="R_index_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
  </joint>

  <link name="R_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="meshes/Link16_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link16_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_index_intermediate_joint" type="revolute">
    <origin xyz="-0.0026138 0.032026 -0.001" rpy="0 0 0"/>
    <parent link="R_index_proximal"/>
    <child link="R_index_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
    <mimic joint="R_index_proximal_joint" multiplier="1" offset="0"/>
  </joint>

  <link name="R_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="meshes/Link17_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link17_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_middle_proximal_joint" type="revolute">
    <origin xyz="0.00028533 -0.1371 -0.01295" rpy="-3.1416 0 0"/>
    <parent link="R_hand_base_link"/>
    <child link="R_middle_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
  </joint>

  <link name="R_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="meshes/Link18_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link18_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_middle_intermediate_joint" type="revolute">
    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0"/>
    <parent link="R_middle_proximal"/>
    <child link="R_middle_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
    <mimic joint="R_middle_proximal_joint" multiplier="1" offset="0"/>
  </joint>

  <link name="R_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="meshes/Link19_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link19_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_ring_proximal_joint" type="revolute">
    <origin xyz="0.00028533 -0.13691 0.0062872" rpy="3.0892 0 0"/>
    <parent link="R_hand_base_link"/>
    <child link="R_ring_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
  </joint>

  <link name="R_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="meshes/Link20_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link20_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_ring_intermediate_joint" type="revolute">
    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0"/>
    <parent link="R_ring_proximal"/>
    <child link="R_ring_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
    <mimic joint="R_ring_proximal_joint" multiplier="1" offset="0"/>
  </joint>

  <link name="R_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="meshes/Link21_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link21_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_pinky_proximal_joint" type="revolute">
    <origin xyz="0.00028533 -0.13571 0.025488" rpy="3.0369 0 0"/>
    <parent link="R_hand_base_link"/>
    <child link="R_pinky_proximal"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
  </joint>

  <link name="R_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="meshes/Link22_R.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/Link22_R.STL"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_pinky_intermediate_joint" type="revolute">
    <origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0"/>
    <parent link="R_pinky_proximal"/>
    <child link="R_pinky_intermediate"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
    <mimic joint="R_pinky_proximal_joint" multiplier="1" offset="0"/>
  </joint>

</robot>