<robot name="Lhand">

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

  <link name="left_wrist_yaw_link"></link>

  <joint name="left_base_joint" type="fixed">
    <origin xyz="0.0415 0 0" rpy="3.1415926535 -1.5707963267 0"/>
    <parent link="left_wrist_yaw_link"/>
    <child link="left_base_link"/>
  </joint>
  <link name="left_base_link">
    <inertial>
      <origin xyz="-0.000129826516506615 -0.00373209820390109 0.0826860453890524" rpy="0 0 0"/>
      <mass value="0.62266"/>
      <inertia ixx="0.000221307823686699" ixy="1.16490748163886E-06" ixz="-5.80325306205011E-07" iyy="0.00026513454780435" iyz="1.55187520961687E-05" izz="0.000132311385681939"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 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_palm_force_sensor">
    <inertial>
      <origin xyz="-0.000120093335198468 0.000717297413647363 -0.000692889069965119" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.79237847416137E-07" ixy="-3.62335250998281E-10" ixz="2.06838829668637E-10" iyy="5.01887324843558E-07" iyz="-4.23537057624967E-10" izz="6.80017237748533E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_palm_force_sensor.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_palm_force_sensor.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_palm_force_sensor_joint" type="fixed">
    <origin xyz="0.00036819 0.012296 0.1196" rpy="1.5708 0 3.1416"/>
    <parent link="left_base_link"/>
    <child link="left_palm_force_sensor"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_thumb_1">
    <inertial>
      <origin xyz="0.000892587008927997 0.000344904925262568 0.00159994421521059" rpy="0 0 0"/>
      <mass value="0.00746"/>
      <inertia ixx="1.2983519872666E-07" ixy="5.71160209319418E-09" ixz="-1.48758983716317E-08" iyy="1.11222049064813E-07" iyz="-2.10520897820255E-09" izz="7.03400599726425E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_1_joint" type="revolute">
    <origin xyz="0.0269 0.02101 0.0689" rpy="0 0 0"/>
    <parent link="left_base_link"/>
    <child link="left_thumb_1"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.1641" effort="10" velocity="1"/>
  </joint>
  <link name="left_thumb_2">
    <inertial>
      <origin xyz="-0.0138338557330702 0.0119064253484683 -0.00884568682807551" rpy="0 0 0"/>
      <mass value="0.04264"/>
      <inertia ixx="1.06992620749386E-06" ixy="7.73895281587509E-08" ixz="-1.82300078409443E-09" iyy="9.94179895508654E-07" iyz="-2.14768595156751E-09" izz="1.3509537005286E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_2_joint" type="revolute">
    <origin xyz="0.0073431 0.011232 0.0052" rpy="1.5708 0 -2.8798"/>
    <parent link="left_thumb_1"/>
    <child link="left_thumb_2"/>
    <axis xyz="0 0 -1"/>
    <limit lower="0" upper="0.5864" effort="10" velocity="1"/>
  </joint>
  <link name="left_thumb_force_sensor_1">
    <inertial>
      <origin xyz="1.66858232989106E-05 -1.15630711571557E-05 -0.00107124647646149" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="9.01122065715071E-09" ixy="2.06673401316216E-14" ixz="-2.31198472922296E-12" iyy="4.94557964402789E-09" iyz="-1.1789230357668E-11" izz="1.35651342806704E-08"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_force_sensor_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_force_sensor_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_force_sensor_1_joint" type="fixed">
    <origin xyz="-0.0087121 0.026305 -0.0089605" rpy="1.2213 -1.5708 -3.14"/>
    <parent link="left_thumb_2"/>
    <child link="left_thumb_force_sensor_1"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_thumb_3">
    <inertial>
      <origin xyz="-0.0108800191783186 0.00425952831010942 -0.0076501712330704" rpy="0 0 0"/>
      <mass value="0.01501"/>
      <inertia ixx="5.19553148414743E-07" ixy="1.00409055606659E-07" ixz="-1.22260512341586E-10" iyy="5.03386725498716E-07" iyz="2.62527191934887E-11" izz="5.33624332749317E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_3.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_3.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_3_joint" type="revolute">
    <origin xyz="-0.031403 0.021069 -0.001299" rpy="0 0 0"/>
    <parent link="left_thumb_2"/>
    <child link="left_thumb_3"/>
    <axis xyz="0 0 -1"/>
    <limit lower="0" upper="0.5" effort="10" velocity="1"/>
    <mimic joint="left_thumb_2_joint" multiplier="0.8024" offset="0"/>
  </joint>
  <link name="left_thumb_force_sensor_2">
    <inertial>
      <origin xyz="2.43332410831479E-05 -5.44992472824302E-05 -0.00109137310434532" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="3.34748296277895E-10" ixy="3.77358736112024E-14" ixz="-3.52273723202259E-13" iyy="3.35821649138781E-10" iyz="-1.08964939417375E-12" izz="5.88578470286886E-10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_force_sensor_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_force_sensor_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_force_sensor_2_joint" type="fixed">
    <origin xyz="-0.011771 0.01699 -0.0077514" rpy="-1.8405 -1.5705 0"/>
    <parent link="left_thumb_3"/>
    <child link="left_thumb_force_sensor_2"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_thumb_4">
    <inertial>
      <origin xyz="-0.0163213563394194 0.00521928641987035 -0.00735104436106706" rpy="0 0 0"/>
      <mass value="0.00972"/>
      <inertia ixx="5.94897206401284E-07" ixy="2.54251361887254E-07" ixz="5.54085992162471E-11" iyy="7.79202349429445E-07" iyz="8.89651119807489E-11" izz="8.99824190088835E-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_4.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_4.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_4_joint" type="revolute">
    <origin xyz="-0.021903 0.012816 -0.0003" rpy="0 0 0"/>
    <parent link="left_thumb_3"/>
    <child link="left_thumb_4"/>
    <axis xyz="0 0 -1"/>
    <limit lower="0" upper="3.14" effort="10" velocity="1"/>
    <mimic joint="left_thumb_3_joint" multiplier="0.9487" offset="0"/>
  </joint>
  <link name="left_thumb_force_sensor_3">
    <inertial>
      <origin xyz="-1.23189696923445E-05 0.000195538975680837 -0.000792005365136905" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="5.41173490291494E-09" ixy="-4.87700447907193E-13" ixz="6.30024679424638E-13" iyy="2.55896079923591E-09" iyz="-3.82351468308955E-11" izz="7.82764624814665E-09"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_force_sensor_3.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_force_sensor_3.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_force_sensor_3_joint" type="fixed">
    <origin xyz="-0.014598 0.014721 -0.0073103" rpy="0.18602 -1.5708 -2.2971"/>
    <parent link="left_thumb_4"/>
    <child link="left_thumb_force_sensor_3"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_thumb_force_sensor_4">
    <inertial>
      <origin xyz="-8.78777579448042E-07 -0.000270130629645191 -0.00100448285176212" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="8.13578898809676E-11" ixy="-2.5551631994433E-14" ixz="-2.01520896001797E-14" iyy="1.70778531226233E-10" iyz="3.77224272937059E-12" izz="2.11644262323665E-10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_force_sensor_4.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_thumb_force_sensor_4.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_thumb_force_sensor_4_joint" type="fixed">
    <origin xyz="-0.028987 0.017301 -0.0073513" rpy="2.0775 1.5708 -2.12"/>
    <parent link="left_thumb_4"/>
    <child link="left_thumb_force_sensor_4"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_index_1">
    <inertial>
      <origin xyz="-0.00219464981659673 0.0127400599495518 0.00664960432625117" rpy="0 0 0"/>
      <mass value="0.02841"/>
      <inertia ixx="1.13152958548118E-06" ixy="7.34320814628761E-08" ixz="-7.01592854910693E-12" iyy="5.50274101364838E-07" iyz="-5.17537867778651E-11" izz="1.17474430240968E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_index_1_joint" type="revolute">
    <origin xyz="0.038679 0.00056467 0.1564" rpy="1.5359 0 -1.5708"/>
    <parent link="left_base_link"/>
    <child link="left_index_1"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.4381" effort="10" velocity="1"/>
  </joint>
  <link name="left_index_force_sensor_1">
    <inertial>
      <origin xyz="-4.39980862962375E-06 0.000116492429592427 -0.000567426247601172" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="3.38062498899254E-09" ixy="5.06878020530947E-11" ixz="2.18895973514027E-13" iyy="1.96425205496783E-09" iyz="-5.52626408641062E-12" izz="5.28129594144099E-09"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_force_sensor_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_force_sensor_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_index_force_sensor_1_joint" type="fixed">
    <origin xyz="-0.012046 0.019649 0.006651" rpy="1.5708 -1.5351 -1.7829"/>
    <parent link="left_index_1"/>
    <child link="left_index_force_sensor_1"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_index_2">
    <inertial>
      <origin xyz="0.000533233960149537 0.0253408354610482 0.00609265194430511" rpy="0 0 0"/>
      <mass value="0.01218"/>
      <inertia ixx="2.11152230822014E-06" ixy="3.78378590330555E-07" ixz="4.18043982623951E-10" iyy="3.70467679203513E-07" iyz="-2.78705792669554E-09" izz="2.14356971717263E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_index_2_joint" type="revolute">
    <origin xyz="-0.0034259 0.032596 0.00055" rpy="0 0 0"/>
    <parent link="left_index_1"/>
    <child link="left_index_2"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="3.14" effort="10" velocity="1"/>
    <mimic joint="left_index_1_joint" multiplier="1.0843" offset="0"/>
  </joint>
  <link name="left_index_force_sensor_2">
    <inertial>
      <origin xyz="-3.92383751107728E-06 0.000206469730308023 -0.000722888601662641" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="4.7987768166369E-09" ixy="8.64189585169657E-11" ixz="1.5042180282212E-12" iyy="2.43957953886802E-09" iyz="-3.05164404848786E-11" izz="7.12568463704975E-09"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_force_sensor_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_force_sensor_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_index_force_sensor_2_joint" type="fixed">
    <origin xyz="-0.0081655 0.037446 0.0060795" rpy="1.5708 -1.5337 -1.222"/>
    <parent link="left_index_2"/>
    <child link="left_index_force_sensor_2"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_index_force_sensor_3">
    <inertial>
      <origin xyz="2.48712002496876E-05 -0.000345284176963695 -0.00133798867886123" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.31976081706364E-10" ixy="-5.65097989610319E-12" ixz="-7.80109914730126E-13" iyy="2.53434470713008E-10" iyz="9.12174625129574E-12" izz="2.80536896961268E-10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_force_sensor_3.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_index_force_sensor_3.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_index_force_sensor_3_joint" type="fixed">
    <origin xyz="-0.0086237 0.052572 0.0060954" rpy="1.5708 -1.5252 -2.2692"/>
    <parent link="left_index_2"/>
    <child link="left_index_force_sensor_3"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_middle_1">
    <inertial>
      <origin xyz="-0.00219464961590674 0.0127400600036114 0.00664960428412462" rpy="0 0 0"/>
      <mass value="0.02841"/>
      <inertia ixx="1.13152961123076E-06" ixy="7.34320803088484E-08" ixz="-7.00900732439941E-12" iyy="5.50274106824469E-07" iyz="-5.1746667485507E-11" izz="1.17474433485984E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_middle_1_joint" type="revolute">
    <origin xyz="0.0171 0.00056467 0.157" rpy="1.5708 0 -1.5708"/>
    <parent link="left_base_link"/>
    <child link="left_middle_1"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.4381" effort="10" velocity="1"/>
  </joint>
  <link name="left_middle_force_sensor_1">
    <inertial>
      <origin xyz="-2.38805233421235E-07 0.00011657525419928 -0.00056742615707274" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="3.3824362190208E-09" ixy="2.84614711222461E-14" ixz="2.15581663153013E-14" iyy="1.96244127906411E-09" iyz="-5.53035966625832E-12" izz="5.28129636598898E-09"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_force_sensor_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_force_sensor_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_middle_force_sensor_1_joint" type="fixed">
    <origin xyz="-0.012046 0.019649 0.006651" rpy="0.73473 -1.5708 -0.94682"/>
    <parent link="left_middle_1"/>
    <child link="left_middle_force_sensor_1"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_middle_2">
    <inertial>
      <origin xyz="-9.24135364655104E-05 0.0270345152816558 0.00610059049321496" rpy="0 0 0"/>
      <mass value="0.01561"/>
      <inertia ixx="2.58658045501346E-06" ixy="4.53262710230316E-07" ixz="5.55107506223743E-12" iyy="4.10327347278853E-07" iyz="-8.43741266162475E-12" izz="2.62954290013629E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_middle_2_joint" type="revolute">
    <origin xyz="-0.0034259 0.032596 0.00055" rpy="0 0 0"/>
    <parent link="left_middle_1"/>
    <child link="left_middle_2"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="3.14" effort="10" velocity="1"/>
    <mimic joint="left_middle_1_joint" multiplier="1.0843" offset="0"/>
  </joint>
  <link name="left_middle_force_sensor_2">
    <inertial>
      <origin xyz="6.77351601335863E-07 2.94313228783732E-05 -0.000722425776846891" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="5.04148765936938E-09" ixy="1.87053180733141E-13" ixz="-1.92198399914336E-14" iyy="2.56777987860697E-09" iyz="3.47150599586572E-12" izz="7.49457837348363E-09"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_force_sensor_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_force_sensor_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_middle_force_sensor_2_joint" type="fixed">
    <origin xyz="-0.009086 0.040962 0.0061003" rpy="1.8942 -1.5708 -1.5214"/>
    <parent link="left_middle_2"/>
    <child link="left_middle_force_sensor_2"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_middle_force_sensor_3">
    <inertial>
      <origin xyz="-8.06940798625533E-08 -0.000365444698807449 -0.0012768401530425" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.27227716200634E-10" ixy="-8.96643675852261E-15" ixz="-8.77104798931372E-15" iyy="2.43691020872239E-10" iyz="7.61276541489738E-12" izz="2.75875028961867E-10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_force_sensor_3.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_middle_force_sensor_3.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_middle_force_sensor_3_joint" type="fixed">
    <origin xyz="-0.0098294 0.056051 0.0061006" rpy="0.84662 -1.5708 -1.521"/>
    <parent link="left_middle_2"/>
    <child link="left_middle_force_sensor_3"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_ring_1">
    <inertial>
      <origin xyz="-0.0021946507104972 0.0127400598730178 0.00664960488600091" rpy="0 0 0"/>
      <mass value="0.02841"/>
      <inertia ixx="1.13152930818392E-06" ixy="7.34320393902882E-08" ixz="-7.09830398426667E-12" iyy="5.5027409300137E-07" iyz="-5.18112001740641E-11" izz="1.17474396570232E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ring_1_joint" type="revolute">
    <origin xyz="-0.0045302 0.00056467 0.15683" rpy="1.6232 0 -1.5708"/>
    <parent link="left_base_link"/>
    <child link="left_ring_1"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.4381" effort="10" velocity="1"/>
  </joint>
  <link name="left_ring_force_sensor_1">
    <inertial>
      <origin xyz="6.00203522563292E-06 0.000116421389792051 -0.000567426346187727" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="3.37837011170993E-09" ixy="-7.58787529691318E-11" ixz="-2.74580424569921E-13" iyy="1.96650618264834E-09" iyz="-5.5239313808051E-12" izz="5.28129521919661E-09"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_force_sensor_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_force_sensor_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ring_force_sensor_1_joint" type="fixed">
    <origin xyz="-0.012046 0.019649 0.006651" rpy="-1.5708 -1.5172 1.3587"/>
    <parent link="left_ring_1"/>
    <child link="left_ring_force_sensor_1"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_ring_2">
    <inertial>
      <origin xyz="0.000533229899902066 0.0253408208152093 0.00609266034565059" rpy="0 0 0"/>
      <mass value="0.01281"/>
      <inertia ixx="2.1115233491356E-06" ixy="3.78378772885265E-07" ixz="4.17646101514074E-10" iyy="3.70467946466243E-07" iyz="-2.78928238418106E-09" izz="2.14357084931758E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ring_2_joint" type="revolute">
    <origin xyz="-0.0034259 0.032596 0.00055" rpy="0 0 0"/>
    <parent link="left_ring_1"/>
    <child link="left_ring_2"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="3.14" effort="10" velocity="1"/>
    <mimic joint="left_ring_1_joint" multiplier="1.0843" offset="0"/>
  </joint>
  <link name="left_ring_force_sensor_2">
    <inertial>
      <origin xyz="1.52347834254662E-05 0.000205944196161212 -0.000722888366336771" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="4.79445247032036E-09" ixy="-1.3285644247951E-10" ixz="-1.33138092915199E-12" iyy="2.4439035683217E-09" iyz="-3.05245097947678E-11" izz="7.12568419691745E-09"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_force_sensor_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_force_sensor_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ring_force_sensor_2_joint" type="fixed">
    <origin xyz="-0.0081655 0.037446 0.0060795" rpy="-1.5708 -1.5151 1.9196"/>
    <parent link="left_ring_2"/>
    <child link="left_ring_force_sensor_2"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_ring_force_sensor_3">
    <inertial>
      <origin xyz="-1.45503931299751E-05 -0.000345866634044262 -0.00133798468297447" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.32269553548932E-10" ixy="8.21009755146655E-12" ixz="2.62881721966879E-13" iyy="2.53144226946973E-10" iyz="9.1509694836668E-12" izz="2.80539791710119E-10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_force_sensor_3.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ring_force_sensor_3.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ring_force_sensor_3_joint" type="fixed">
    <origin xyz="-0.0086237 0.052572 0.0060954" rpy="-1.5708 -1.5025 0.87237"/>
    <parent link="left_ring_2"/>
    <child link="left_ring_force_sensor_3"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_little_1">
    <inertial>
      <origin xyz="-0.00219465215954852 0.0127400596467728 0.00664960556534563" rpy="0 0 0"/>
      <mass value="0.02841"/>
      <inertia ixx="1.13152896112829E-06" ixy="7.34320008846131E-08" ixz="-7.19963310286909E-12" iyy="5.50274069155466E-07" iyz="-5.18880133640373E-11" izz="1.17474354144948E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_little_1_joint" type="revolute">
    <origin xyz="-0.025916 0.00056467 0.15365" rpy="1.6755 0 -1.5708"/>
    <parent link="left_base_link"/>
    <child link="left_little_1"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="1.4381" effort="10" velocity="1"/>
  </joint>
  <link name="left_little_force_sensor_1">
    <inertial>
      <origin xyz="1.22242688521124E-05 0.00011593285335415 -0.000567426208209446" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="3.36621610386636E-09" ixy="-1.50896082439178E-10" ixz="-5.69773688179133E-13" iyy="1.97866156369579E-09" iyz="-5.50105752380674E-12" izz="5.28129655313466E-09"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_force_sensor_1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_force_sensor_1.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_little_force_sensor_1_joint" type="fixed">
    <origin xyz="-0.012046 0.019649 0.006651" rpy="-1.5708 -1.4637 1.3587"/>
    <parent link="left_little_1"/>
    <child link="left_little_force_sensor_1"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_little_2">
    <inertial>
      <origin xyz="0.00142964313557047 0.0206393899153543 0.00609979950240341" rpy="0 0 0"/>
      <mass value="0.00957"/>
      <inertia ixx="1.14691427718982E-06" ixy="2.22236329962831E-07" ixz="-2.32987903099089E-11" iyy="2.66171126920969E-07" iyz="2.77893420116946E-11" izz="1.15054232943374E-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_little_2_joint" type="revolute">
    <origin xyz="-0.0034259 0.032596 0.00055" rpy="0 0 0"/>
    <parent link="left_little_1"/>
    <child link="left_little_2"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="3.14" effort="10" velocity="1"/>
    <mimic joint="left_little_1_joint" multiplier="1.0843" offset="0"/>
  </joint>
  <link name="left_little_force_sensor_2">
    <inertial>
      <origin xyz="-1.80617029852947E-05 -0.000118388090627967 -0.000773722865239856" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="5.36044739120519E-09" ixy="-2.90383767214614E-10" ixz="4.21250470372021E-12" iyy="2.78880843363446E-09" iyz="3.60559683863613E-11" izz="8.00957473963534E-09"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_force_sensor_2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_force_sensor_2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_little_force_sensor_2_joint" type="fixed">
    <origin xyz="-0.0064514 0.027683 0.0061172" rpy="-1.5708 -1.4597 1.9127"/>
    <parent link="left_little_2"/>
    <child link="left_little_force_sensor_2"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="left_little_force_sensor_3">
    <inertial>
      <origin xyz="-6.37037929382966E-05 -0.000437210532086563 -0.00112816117341033" rpy="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="1.11591596284104E-10" ixy="1.4892328691308E-11" ixz="1.18294492342107E-12" iyy="2.17206534672885E-10" iyz="8.0788357087695E-12" izz="2.52052305204087E-10"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_force_sensor_3.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.411764705882353 0.411764705882353 0.411764705882353 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_little_force_sensor_3.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_little_force_sensor_3_joint" type="fixed">
    <origin xyz="-0.0063973 0.042707 0.0061154" rpy="-1.5708 -1.4336 0.86551"/>
    <parent link="left_little_2"/>
    <child link="left_little_force_sensor_3"/>
    <axis xyz="0 0 0"/>
  </joint>

</robot>