digit360_allegro_right.urdf

<?xml version="1.0" encoding="utf-8"?>
<robot name="meta_allegro" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- ============================================================================= -->
  <!-- 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 name="allegro_root0">
      <inertial>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <mass value="4.00000"/>
        <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
      </inertial>
    </link>
    <link name="allegro_root1">
      <inertial>
        <mass value="1.05"/>
        <inertia ixx="1e-4" ixy="0.0" ixz="0.0" iyy="1e-4" iyz="0.0" izz="1e-4"/>
      </inertial>
    </link>
    <link name="allegro_root2">
      <inertial>
        <mass value="1.05"/>
        <inertia ixx="1e-4" ixy="0.0" ixz="0.0" iyy="1e-4" iyz="0.0" izz="1e-4"/>
      </inertial>
    </link>
    <link name="allegro_root3">
      <inertial>
        <mass value="1.05"/>
        <inertia ixx="1e-4" ixy="0.0" ixz="0.0" iyy="1e-4" iyz="0.0" izz="1e-4"/>
      </inertial>
    </link>
    <link name="allegro_root4">
      <inertial>
        <mass value="1.05"/>
        <inertia ixx="1e-4" ixy="0.0" ixz="0.0" iyy="1e-4" iyz="0.0" izz="1e-4"/>
      </inertial>
    </link>
    <link name="allegro_root5">
      <inertial>
        <mass value="1.05"/>
        <inertia ixx="1e-4" ixy="0.0" ixz="0.0" iyy="1e-4" iyz="0.0" izz="1e-4"/>
      </inertial>
    </link>

    <joint name="x_joint" type="prismatic">
      <parent link="allegro_root0"/>
      <child link="allegro_root1"/>
      <axis xyz="1 0 0"/>
      <limit lower="-0.2" upper="0.2"/>
    </joint>
    <joint name="y_joint" type="prismatic">
      <parent link="allegro_root1"/>
      <child link="allegro_root2"/>
      <axis xyz="0 1 0"/>
      <limit lower="-0.2" upper="0.2"/>
    </joint>
    <joint name="z_joint" type="prismatic">
      <parent link="allegro_root2"/>
      <child link="allegro_root3"/>
      <axis xyz="0 0 1"/>
      <limit lower="-0.2" upper="0.2"/>
    </joint>
    <joint name="x_rotation_joint" type="revolute">
      <parent link="allegro_root3"/>
      <child link="allegro_root4"/>
      <axis xyz="1 0 0"/>
        <origin rpy="-0.00000 -0.00000 0" xyz="0 0 0.03"/>
      <limit lower="-3.14" upper="3.14"/>
    </joint>
    <joint name="y_rotation_joint" type="revolute">
      <parent link="allegro_root4"/>
      <child link="allegro_root5"/>
      <axis xyz="0 1 0"/>
      <origin rpy="-0.00000 -0.00000 0" xyz="0 0 0.03"/>
      <limit lower="-3.14" upper="3.14"/>
    </joint>
    <joint name="z_rotation_joint" type="revolute">
      <parent link="allegro_root5"/>
      <child link="base_link"/>
      <axis xyz="0 0 1"/>
      <origin rpy="-0.00000 -0.00000 0" xyz="0 0 0.03"/>
      <limit lower="-3.14" upper="3.14"/>
    </joint>

    <link name="base_link">
    <inertial>
      <mass value="0.4154"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes/base_link.STL"/>
      </geometry>
      <material name="Grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
      <origin rpy="0 0 0" xyz="0 0 0 "/>
    </visual>
    <!-- <collision>
      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
      <geometry>
        <box size="0.0408 0.1130 0.095"/>
      </geometry>
    </collision> -->
     <collision>
      <origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
      <geometry>
        <box size="0.0414 0.112 0.0448"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
      <geometry>
        <box size="0.0414 0.0538 0.0428"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
      <geometry>
        <box size="0.0414 0.0720 0.013"/>
      </geometry>
    </collision>
    
  </link>


  <link name="link_0.0">
    <!-- <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
    </inertial> -->
    <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>

    <visual>
      <geometry>
        <mesh filename="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>
  </link>
  <joint name="joint_0.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-0.47" upper="0.47" velocity="10"/>
    <parent link="base_link"/>
    <child link="link_0.0"/>
    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
  </joint>
  <link name="link_1.0">
    <!-- <inertial>
      <mass value="0.125164"/>
      <origin xyz="0.027 0 0"/>
      <inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05"
               iyz="2.07384e-05"/>
    </inertial> -->
     <inertial>
      <mass value="0.065"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
    </inertial>
    
    <visual>
      <geometry>
        <mesh filename="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>
  </link>
  <joint name="joint_1.0" type="revolute">
    <limit effort="0" lower="-0.196" upper="1.61" velocity="10"/>
    <axis xyz="0 1 0"/>
    <parent link="link_0.0"/>
    <child link="link_1.0"/>
    <origin xyz="0 0 0.0164"/>
  </joint>
  <link name="link_2.0">
    <!-- <inertial>
      <mass value="0.131691"/>
      <origin xyz="0.039 0 0"/>
      <inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05"
               iyz="-3.62996e-05"/>
    </inertial> -->
    <inertial>
      <mass value="0.0355"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
    </inertial>

    <visual>
      <geometry>
        <mesh filename="meshes/link_2.0.STL"/>
      </geometry>
         <material name="Grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0384"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
    </collision>
  </link>
  <joint name="joint_2.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.174" upper="1.709" velocity="10"/>
    <parent link="link_1.0"/>
    <child link="link_2.0"/>
    <origin xyz="0 0 0.054"/>
  </joint>
  <link name="link_3.0">
    <!-- <inertial>
      <mass value="0.131691"/>
      <origin xyz="0.039 0 0"/>
      <inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05"
               iyz="-3.62996e-05"/>
    </inertial> -->
     <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>

    <visual>
      <geometry>
        <mesh filename="meshes/link_3.0.STL"/>
      </geometry>
         <material name="Grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.0196 0.0235 0.014"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.008"/>
    </collision>
  </link>
  <joint name="joint_3.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.227" upper="1.618" velocity="10"/>
    <parent link="link_2.0"/>
    <child link="link_3.0"/>
    <origin xyz="0 0 0.0384"/>
  </joint>

  <link name="link_4.0">
    <!-- <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
    </inertial> -->

    <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>

    <visual>
      <geometry>
        <mesh filename="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>
  </link>
  <joint name="joint_4.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-0.47" upper="0.47" velocity="10"/>
    <parent link="base_link"/>
    <child link="link_4.0"/>
    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
  </joint>
  <link name="link_5.0">
    <!-- <inertial>
      <mass value="0.125164"/>
      <origin xyz="0.027 0 0"/>
      <inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05"
               iyz="2.07384e-05"/>
    </inertial> -->
    
    <inertial>
      <mass value="0.065"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
    </inertial>

    <visual>
      <geometry>
        <mesh filename="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>
  </link>
  <joint name="joint_5.0" type="revolute">
    <limit effort="0" lower="-0.196" upper="1.61" velocity="10"/>
    <axis xyz="0 1 0"/>
    <parent link="link_4.0"/>
    <child link="link_5.0"/>
    <origin xyz="0 0 0.0164"/>
  </joint>
  <link name="link_6.0">
    <!-- <inertial>
      <mass value="0.131691"/>
      <origin xyz="0.039 0 0"/>
      <inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05"
               iyz="-3.62996e-05"/>
    </inertial> -->
    <inertial>
      <mass value="0.0355"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
    </inertial>

    <visual>
      <geometry>
        <mesh filename="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>
  </link>
  <joint name="joint_6.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.174" upper="1.709" velocity="10"/>
    <parent link="link_5.0"/>
    <child link="link_6.0"/>
    <origin xyz="0 0 0.054"/>
  </joint>
  <link name="link_7.0">
    <!-- <inertial>
      <mass value="0.131691"/>
      <origin xyz="0.039 0 0"/>
      <inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05"
               iyz="-3.62996e-05"/>
    </inertial> -->
    <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>

    <visual>
      <geometry>
        <mesh filename="meshes/link_3.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
     <collision>
      <geometry>
        <box size="0.0196 0.0235 0.014"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.008"/>
    </collision>

    <!-- <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0267"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
    </collision> -->
  </link>
  <joint name="joint_7.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.227" upper="1.618" velocity="10"/>
    <parent link="link_6.0"/>
    <child link="link_7.0"/>
    <origin xyz="0 0 0.0384"/>
  </joint>
 
  <link name="link_8.0">
    <!-- <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
    </inertial> -->

    <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>

    <visual>
      <geometry>
        <mesh filename="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>

  </link>
  <joint name="joint_8.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-0.47" upper="0.47" velocity="10"/>
    <parent link="base_link"/>
    <child link="link_8.0"/>
    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
  </joint>
  <link name="link_9.0">
    <!-- <inertial>
      <mass value="0.125164"/>
      <origin xyz="0.027 0 0"/>
      <inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05"
               iyz="2.07384e-05"/>
    </inertial> -->
    <inertial>
      <mass value="0.065"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
    </inertial>

    <visual>
      <geometry>
        <mesh filename="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>
  </link>
  <joint name="joint_9.0" type="revolute">
    <limit effort="0" lower="-0.196" upper="1.61" velocity="10"/>
    <axis xyz="0 1 0"/>
    <parent link="link_8.0"/>
    <child link="link_9.0"/>
    <origin xyz="0 0 0.0164"/>
  </joint>
  <link name="link_10.0">
    <!-- <inertial>
      <mass value="0.131691"/>
      <origin xyz="0.039 0 0"/>
      <inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05"
               iyz="-3.62996e-05"/>
    </inertial> -->
    <inertial>
      <mass value="0.0355"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
    </inertial>

    <visual>
      <geometry>
        <mesh filename="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>
  </link>
  <joint name="joint_10.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.174" upper="1.709" velocity="10"/>
    <parent link="link_9.0"/>
    <child link="link_10.0"/>
    <origin xyz="0 0 0.054"/>
  </joint>
  <link name="link_11.0">
    <!-- <inertial>
      <mass value="0.131691"/>
      <origin xyz="0.039 0 0"/>
      <inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05"
               iyz="-3.62996e-05"/>
    </inertial> -->
     <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>

    <visual>
      <geometry>
        <mesh filename="meshes/link_3.0.STL"/>
      </geometry>
      <material name="black"/>
    </visual>
     <collision>
      <geometry>
        <box size="0.0196 0.0235 0.014"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.008"/>
    </collision>

    <!-- <collision>
      <geometry>
        <box size="0.0196 0.0275 0.0267"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
    </collision> -->
  </link>
  <joint name="joint_11.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.227" upper="1.618" velocity="10"/>
    <parent link="link_10.0"/>
    <child link="link_11.0"/>
    <origin xyz="0 0 0.0384"/>
  </joint>

  <!-- THUMB -->
  <link name="link_12.0">
    <!-- <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
    </inertial> -->
    <inertial>
      <mass value="0.0176"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
    </inertial>

    <visual>
      <geometry>
        <!-- RIGHT -->
        <mesh filename="meshes/link_12.0_right.STL"/>
        <!-- LEFT -->
        <!-- <mesh filename="meshes/link_12.0_left.STL" /> -->
      </geometry>
      <material name="black">
        <color rgba=".2 .2 .2 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.0358 0.034 0.0455"/>
      </geometry>
      <!-- RIGHT -->
      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
      <!-- LEFT -->
    </collision>
  </link>
  <joint name="joint_12.0" type="revolute">
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="0.263" upper="1.396" velocity="10"/>
    <parent link="base_link"/>
    <child link="link_12.0"/>
    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
  </joint>
  <link name="link_13.0">
    <!-- <inertial>
      <mass value="0.125164"/>
      <origin xyz="0.027 0 0"/>
      <inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05"
               iyz="2.07384e-05"/>
    </inertial> -->
    <inertial>
      <mass value="0.0119"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
    </inertial>

    <visual>
      <geometry>
        <mesh filename="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>
  </link>
  <joint name="joint_13.0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-0.105" upper="1.163" velocity="10"/>
    <parent link="link_12.0"/>
    <child link="link_13.0"/>
    <!-- RIGHT -->
    <origin xyz="-0.027 0.005 0.0399"/>
    <!-- LEFT -->
    <!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
  </joint>
  <link name="link_14.0">
    <!-- <inertial>
      <mass value="0.131691"/>
      <origin xyz="0.039 0 0"/>
      <inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05"
               iyz="-3.62996e-05"/>
    </inertial> -->
    <inertial>
      <mass value="0.038"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
    </inertial>

    <visual>
      <geometry>
        <mesh filename="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>
  </link>
  <joint name="joint_14.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.189" upper="1.644" velocity="10"/>
    <parent link="link_13.0"/>
    <child link="link_14.0"/>
    <origin xyz="0 0 0.0177"/>
  </joint>
  <link name="link_15.0">
    <!-- <inertial>
      <mass value="0.131691"/>
      <origin xyz="0.039 0 0"/>
      <inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05"
               iyz="-3.62996e-05"/>
    </inertial> -->
    <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>

    <visual>
      <geometry>
        <mesh filename="meshes/link_15.0.STL"/>
      </geometry>
      <material name="black">
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.0186 0.0275 0.0323"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.01615"/>
    </collision>
  </link>
  <joint name="joint_15.0" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.162" upper="1.719" velocity="10"/>
    <parent link="link_14.0"/>
    <child link="link_15.0"/>
    <origin xyz="0 0 0.0514"/>
  </joint>

  
  <link name="link_3.0_digit2_sensor_base">
    <visual>
      <geometry>
        <mesh filename="meshes/digit2_sensor_base.stl"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
     <collision>
      <geometry>
       <mesh filename="meshes/digit2_sensor_base.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="joint_3.0_digit2_sensor_base" type="fixed">
    <parent link="link_3.0"/>
    <child link="link_3.0_digit2_sensor_base"/>
    <origin rpy="0 0 0" xyz="0 0 0.02"/>
  </joint>

  <inertial>
      <mass value="0.01"/>
      <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 name="link_3.0_digit2_sensor_base_tip">
    <visual>
      <geometry>
        <mesh filename="meshes/digit2_sensor_base_tip.stl"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
     <collision>
      <geometry>
       <mesh filename="meshes/digit2_sensor_base_tip.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="joint_3.0_digit2_sensor_base_tip" type="fixed">
    <parent link="link_3.0"/>
    <child link="link_3.0_digit2_sensor_base_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.02"/>
  </joint>

  <inertial>
      <mass value="0.01"/>
      <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 name="link_7.0_digit2_sensor_base">
    <visual>
      <geometry>
        <mesh filename="meshes/digit2_sensor_base.stl"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
     <collision>
      <geometry>
       <mesh filename="meshes/digit2_sensor_base.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="joint_7.0_digit2_sensor_base" type="fixed">
    <parent link="link_7.0"/>
    <child link="link_7.0_digit2_sensor_base"/>
    <origin rpy="0 0 0" xyz="0 0 0.02"/>
  </joint>

  <inertial>
      <mass value="0.01"/>
      <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 name="link_7.0_digit2_sensor_base_tip">
    <visual>
      <geometry>
        <mesh filename="meshes/digit2_sensor_base_tip.stl"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
     <collision>
      <geometry>
       <mesh filename="meshes/digit2_sensor_base_tip.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="joint_7.0_digit2_sensor_base_tip" type="fixed">
    <parent link="link_7.0"/>
    <child link="link_7.0_digit2_sensor_base_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.02"/>
  </joint>

  <inertial>
      <mass value="0.01"/>
      <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 name="link_11.0_digit2_sensor_base">
    <visual>
      <geometry>
        <mesh filename="meshes/digit2_sensor_base.stl"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
     <collision>
      <geometry>
       <mesh filename="meshes/digit2_sensor_base.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="joint_11.0_digit2_sensor_base" type="fixed">
    <parent link="link_11.0"/>
    <child link="link_11.0_digit2_sensor_base"/>
    <origin rpy="0 0 0" xyz="0 0 0.02"/>
  </joint>

  <inertial>
      <mass value="0.01"/>
      <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 name="link_11.0_digit2_sensor_base_tip">
    <visual>
      <geometry>
        <mesh filename="meshes/digit2_sensor_base_tip.stl"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
     <collision>
      <geometry>
       <mesh filename="meshes/digit2_sensor_base_tip.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="joint_11.0_digit2_sensor_base_tip" type="fixed">
    <parent link="link_11.0"/>
    <child link="link_11.0_digit2_sensor_base_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.02"/>
  </joint>

  <inertial>
      <mass value="0.01"/>
      <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 name="link_15.0_digit2_sensor_base">
    <visual>
      <geometry>
        <mesh filename="meshes/digit2_sensor_base.stl"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
     <collision>
      <geometry>
       <mesh filename="meshes/digit2_sensor_base.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="joint_15.0_digit2_sensor_base" type="fixed">
    <parent link="link_15.0"/>
    <child link="link_15.0_digit2_sensor_base"/>
    <origin rpy="0 0 0" xyz="0 0 0.0353"/>
  </joint>

  <inertial>
      <mass value="0.01"/>
      <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 name="link_15.0_digit2_sensor_base_tip">
    <visual>
      <geometry>
        <mesh filename="meshes/digit2_sensor_base_tip.stl"/>
      </geometry>
      <material name="white">
        <color rgba=".9 .9 .9 1"/>
      </material>
    </visual>
     <collision>
      <geometry>
       <mesh filename="meshes/digit2_sensor_base_tip.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="joint_15.0_digit2_sensor_base_tip" type="fixed">
    <parent link="link_15.0"/>
    <child link="link_15.0_digit2_sensor_base_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0353"/>
  </joint>

  <inertial>
      <mass value="0.01"/>
      <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>





</robot>