<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from allegro_hand_description_left.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="allegro_hand_left" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- ======================== BASE PARAMS ========================= -->
  <!-- ======================== FINGER PARAMS ======================== -->
  <!-- full height from joint to tip. when used,
         the radius of the finger tip sphere will be subtracted
         and one fixed link will be added for the tip. -->
  <!-- ========================= THUMB PARAMS ========================= -->
  <!-- ========================= LIMITS ========================= -->
  <!-- ============================================================================= -->
  <!-- PALM -->
  <link name="palm_link">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/base_link_left.STL"/>
      </geometry>
      <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
      <material name="black">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
      <geometry>
        <box size="0.0408 0.1130 0.095"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0475"/>
      <mass value="0.4154"/>
      <inertia ixx="1e-4" ixy="0.0" ixz="0.0" iyy="1e-4" iyz="0.0" izz="1e-4"/>
    </inertial>
  </link>
  <!-- ============================================================================= -->
  <!-- FINGERS -->
  <!-- RIGHT HAND due to which finger is number 0 -->
  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
  <!-- [LINK 0, 4, 8] -->
  <link name="link_8.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_0.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0164"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
    </collision>
    <inertial>
      <mass value="0.0119"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
    </inertial>
  </link>
  <joint name="joint_8.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
    <parent link="palm_link"/>
    <child link="link_8.0"/>
    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
    <dynamics damping="3" friction="10"/>
  </joint>
  <!-- [LINK 1, 5, 9] -->
  <link name="link_9.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_1.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.054"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.027"/>
    </collision>
    <inertial>
      <mass value="0.065"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="8.08728875979549e-05" ixy="1.48386162019941e-05" ixz="4.2343545689576e-06" iyy="2.85700490570738e-05" iyz="2.14347646011766e-05" izz="7.96647061621031e-05"/>
    </inertial>
  </link>
  <joint name="joint_9.0" type="revolute">
    <limit effort="15" lower="-0.196" upper="1.61" velocity="7"/>
    <axis xyz="0 1 0"/>
    <parent link="link_8.0"/>
    <child link="link_9.0"/>
    <origin xyz="0 0 0.0164"/>
    <dynamics damping="3" friction="5"/>
  </joint>
  <!-- [LINK 2, 6, 10]-->
  <link name="link_10.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_2.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0384"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
    </collision>
    <inertial>
      <mass value="0.0355"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="2.7108908376807e-05" ixy="5.4115225794551e-06" ixz="2.85079817622615e-06" iyy="1.49716294427206e-05" iyz="7.93657186922407e-06" izz="2.66287347075153e-05"/>
    </inertial>
  </link>
  <joint name="joint_10.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="15" lower="-0.174" upper="1.709" velocity="7"/>
    <parent link="link_9.0"/>
    <child link="link_10.0"/>
    <origin xyz="0 0 0.054"/>
    <dynamics damping="8" friction="10"/>
  </joint>
  <!-- [LINK 3, 7, 11] -->
  <link name="link_11.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0267"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
    </collision>
    <inertial>
      <mass value="0.0096"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
    </inertial>
  </link>
  <joint name="joint_11.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="15" lower="-0.227" upper="1.618" velocity="7"/>
    <parent link="link_10.0"/>
    <child link="link_11.0"/>
    <origin xyz="0 0 0.0384"/>
    <dynamics damping="10" friction="12"/>
  </joint>
  <!-- [FINGER TIP] -->
  <link name="link_11.0_tip">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0_tip.STL"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.012"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0168"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
    </inertial>
  </link>
  <joint name="joint_11.0_tip" type="fixed">
    <parent link="link_11.0"/>
    <child link="link_11.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <!-- [LINK 0, 4, 8] -->
  <link name="link_4.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_0.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0164"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
    </collision>
    <inertial>
      <mass value="0.0119"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
    </inertial>
  </link>
  <joint name="joint_4.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
    <parent link="palm_link"/>
    <child link="link_4.0"/>
    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
    <dynamics damping="3" friction="10"/>
  </joint>
  <!-- [LINK 1, 5, 9] -->
  <link name="link_5.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_1.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.054"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.027"/>
    </collision>
    <inertial>
      <mass value="0.065"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="8.08728875979549e-05" ixy="1.48386162019941e-05" ixz="4.2343545689576e-06" iyy="2.85700490570738e-05" iyz="2.14347646011766e-05" izz="7.96647061621031e-05"/>
    </inertial>
  </link>
  <joint name="joint_5.0" type="revolute">
    <limit effort="15" lower="-0.196" upper="1.61" velocity="7"/>
    <axis xyz="0 1 0"/>
    <parent link="link_4.0"/>
    <child link="link_5.0"/>
    <origin xyz="0 0 0.0164"/>
    <dynamics damping="3" friction="5"/>
  </joint>
  <!-- [LINK 2, 6, 10]-->
  <link name="link_6.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_2.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0384"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
    </collision>
    <inertial>
      <mass value="0.0355"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="2.7108908376807e-05" ixy="5.4115225794551e-06" ixz="2.85079817622615e-06" iyy="1.49716294427206e-05" iyz="7.93657186922407e-06" izz="2.66287347075153e-05"/>
    </inertial>
  </link>
  <joint name="joint_6.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="15" lower="-0.174" upper="1.709" velocity="7"/>
    <parent link="link_5.0"/>
    <child link="link_6.0"/>
    <origin xyz="0 0 0.054"/>
    <dynamics damping="8" friction="10"/>
  </joint>
  <!-- [LINK 3, 7, 11] -->
  <link name="link_7.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0267"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
    </collision>
    <inertial>
      <mass value="0.0096"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
    </inertial>
  </link>
  <joint name="joint_7.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="15" lower="-0.227" upper="1.618" velocity="7"/>
    <parent link="link_6.0"/>
    <child link="link_7.0"/>
    <origin xyz="0 0 0.0384"/>
    <dynamics damping="10" friction="12"/>
  </joint>
  <!-- [FINGER TIP] -->
  <link name="link_7.0_tip">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0_tip.STL"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.012"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0168"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
    </inertial>
  </link>
  <joint name="joint_7.0_tip" type="fixed">
    <parent link="link_7.0"/>
    <child link="link_7.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <!-- [LINK 0, 4, 8] -->
  <link name="link_0.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_0.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0164"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
    </collision>
    <inertial>
      <mass value="0.0119"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
    </inertial>
  </link>
  <joint name="joint_0.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
    <parent link="palm_link"/>
    <child link="link_0.0"/>
    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
    <dynamics damping="3" friction="10"/>
  </joint>
  <!-- [LINK 1, 5, 9] -->
  <link name="link_1.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_1.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.054"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.027"/>
    </collision>
    <inertial>
      <mass value="0.065"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="8.08728875979549e-05" ixy="1.48386162019941e-05" ixz="4.2343545689576e-06" iyy="2.85700490570738e-05" iyz="2.14347646011766e-05" izz="7.96647061621031e-05"/>
    </inertial>
  </link>
  <joint name="joint_1.0" type="revolute">
    <limit effort="15" lower="-0.196" upper="1.61" velocity="7"/>
    <axis xyz="0 1 0"/>
    <parent link="link_0.0"/>
    <child link="link_1.0"/>
    <origin xyz="0 0 0.0164"/>
    <dynamics damping="3" friction="5"/>
  </joint>
  <!-- [LINK 2, 6, 10]-->
  <link name="link_2.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_2.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0384"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
    </collision>
    <inertial>
      <mass value="0.0355"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="2.7108908376807e-05" ixy="5.4115225794551e-06" ixz="2.85079817622615e-06" iyy="1.49716294427206e-05" iyz="7.93657186922407e-06" izz="2.66287347075153e-05"/>
    </inertial>
  </link>
  <joint name="joint_2.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="15" lower="-0.174" upper="1.709" velocity="7"/>
    <parent link="link_1.0"/>
    <child link="link_2.0"/>
    <origin xyz="0 0 0.054"/>
    <dynamics damping="8" friction="10"/>
  </joint>
  <!-- [LINK 3, 7, 11] -->
  <link name="link_3.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0267"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
    </collision>
    <inertial>
      <mass value="0.0096"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
    </inertial>
  </link>
  <joint name="joint_3.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="15" lower="-0.227" upper="1.618" velocity="7"/>
    <parent link="link_2.0"/>
    <child link="link_3.0"/>
    <origin xyz="0 0 0.0384"/>
    <dynamics damping="10" friction="12"/>
  </joint>
  <!-- [FINGER TIP] -->
  <link name="link_3.0_tip">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0_tip.STL"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.012"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0168"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
    </inertial>
  </link>
  <joint name="joint_3.0_tip" type="fixed">
    <parent link="link_3.0"/>
    <child link="link_3.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <!-- THUMB -->
  <!-- [LINK 12] -->
  <link name="link_12.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_12.0_left.STL"/>
      </geometry>
      <material name="black">
        <color rgba=".2 .2 .2 1"/>
      </material>
      <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0358 0.034 0.0455"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
    </collision>
    <inertial>
      <mass value="0.0176"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1.96731938544998e-05" ixy="5.34714941558415e-06" ixz="3.28371818678657e-06" iyy="1.55885860593306e-05" iyz="5.0204641842028e-06" izz="1.97505895464656e-05"/>
    </inertial>
  </link>
  <joint name="joint_12.0" type="revolute">
    <axis xyz="+1 0 0"/>
    <limit effort="15" lower="0.263" upper="1.396" velocity="7"/>
    <parent link="palm_link"/>
    <child link="link_12.0"/>
    <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
    <dynamics damping="3" friction="10"/>
  </joint>
  <!-- [LINK 13] -->
  <link name="link_13.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_13.0.STL"/>
      </geometry>
      <material name="black">
        <color rgba=".2 .2 .2 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0177"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
    </collision>
    <inertial>
      <mass value="0.0119"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="4.3875110939419e-06" ixy="7.95929506936549e-07" ixz="1.35226331844583e-06" iyy="4.65422984297958e-06" iyz="1.18904291699917e-06" izz="4.34097290977866e-06"/>
    </inertial>
  </link>
  <joint name="joint_13.0" type="revolute">
    <axis xyz="0 0 -1"/>
    <limit effort="15" lower="-0.105" upper="1.163" velocity="7"/>
    <parent link="link_12.0"/>
    <child link="link_13.0"/>
    <origin xyz="-0.027 -0.005 0.0399"/>
    <dynamics damping="3" friction="5"/>
  </joint>
  <!-- [LINK 14] -->
  <link name="link_14.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_14.0.STL"/>
      </geometry>
      <material name="black">
                </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0514"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
    </collision>
    <inertial>
      <mass value="0.038"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="4.3811817294825e-05" ixy="8.18299639785789e-06" ixz="2.55404234759754e-06" iyy="1.66059448592103e-05" iyz="1.1844769255572e-05" izz="4.31323573125218e-05"/>
    </inertial>
  </link>
  <joint name="joint_14.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="15" lower="-0.189" upper="1.644" velocity="7"/>
    <parent link="link_13.0"/>
    <child link="link_14.0"/>
    <origin xyz="0 0 0.0177"/>
    <dynamics damping="3" friction="10"/>
  </joint>
  <!-- [LINK 15] -->
  <link name="link_15.0">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_15.0.STL"/>
      </geometry>
      <material name="black">
                </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0423"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
    </collision>
    <inertial>
      <mass value="0.0388"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
    </inertial>
  </link>
  <joint name="joint_15.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="15" lower="-0.162" upper="1.719" velocity="7"/>
    <parent link="link_14.0"/>
    <child link="link_15.0"/>
    <origin xyz="0 0 0.0514"/>
    <dynamics damping="3" friction="12"/>
  </joint>
  <!-- [FINGER TIP] -->
  <link name="link_15.0_tip">
    <visual>
      <geometry>
        <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_15.0_tip.STL"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.012"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.0168"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
    </inertial>
  </link>
  <joint name="joint_15.0_tip" type="fixed">
    <parent link="link_15.0"/>
    <child link="link_15.0_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
  </joint>
  <!-- ============================================================================= -->
  <!-- THUMB MACRO -->
  <!-- END THUMB MACRO -->
  <!-- THREE FINGER MACRO -->
  <!-- [[END]] THREE FINGER MACRO -->
</robot>
