<?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">
  <!--
rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
-->
  <!-- ======================== 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. -->
  <!--0.0435,   0.044981-->
  <!--0.002298-->
  <!--0.002298-->
  <!-- ========================= THUMB PARAMS ========================= -->
  <!-- ========================= LIMITS ========================= -->
  <!-- ============================================================================= -->
  <!-- ============================================================================= -->
  <!-- ============================================================================= -->
  <!-- BASE -->
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="meshes/base_link_left.STL"/>
      </geometry>
      <!-- LEFT -->
      <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
      <!-- RIGHT -->
      <!--<origin rpy="0 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"/>
      <mass value="0.4154"/>
      <inertia ixx="2.089e-03" ixy="-0.0036e-03" ixz="0.2233e-03" iyy="1.829e-03" iyz="-0.018e-03" izz="0.4825e-03"/>
    </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 name="link_8">
    <visual>
      <geometry>
        <mesh filename="meshes/link_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="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
    </inertial>
  </link>
  <joint name="joint_8" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
    <parent link="base_link"/>
    <child link="link_8"/>
    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
    <dynamics damping="1.5e-2" friction="10"/>
  </joint>
  <link name="link_9">
    <visual>
      <geometry>
        <mesh filename="meshes/link_1.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="7.192e-05" ixy="0" ixz="0" iyy="7.438e-05" iyz="7.322e-07" izz="5.406e-06"/>
    </inertial>
  </link>
  <joint name="joint_9" type="revolute">
    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
    <axis xyz="0 1 0"/>
    <parent link="link_8"/>
    <child link="link_9"/>
    <origin xyz="0 0 0.0164"/>
    <dynamics damping="1.5e-2" friction="5"/>
  </joint>
  <link name="link_10">
    <visual>
      <geometry>
        <mesh filename="meshes/link_2.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="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
    </inertial>
  </link>
  <joint name="joint_10" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
    <parent link="link_9"/>
    <child link="link_10"/>
    <origin xyz="0 0 0.054"/>
    <dynamics damping="1.5e-2" friction="10"/>
  </joint>
  <link name="link_11">
    <visual>
      <geometry>
        <mesh filename="meshes/link_3.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="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
    </inertial>
  </link>
  <joint name="joint_11" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
    <parent link="link_10"/>
    <child link="link_11"/>
    <origin xyz="0 0 0.0384"/>
    <dynamics damping="1.5e-2" friction="12"/>
  </joint>
  <link name="link_11_tip">
    <visual>
      <geometry>
        <mesh filename="meshes/link_3_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="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
    </inertial>
  </link>
  <joint name="joint_11_tip" type="fixed">
    <parent link="link_11"/>
    <child link="link_11_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <link name="link_4">
    <visual>
      <geometry>
        <mesh filename="meshes/link_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="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
    </inertial>
  </link>
  <joint name="joint_4" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
    <parent link="base_link"/>
    <child link="link_4"/>
    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
    <dynamics damping="1.5e-2" friction="10"/>
  </joint>
  <link name="link_5">
    <visual>
      <geometry>
        <mesh filename="meshes/link_1.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="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
    </inertial>
  </link>
  <joint name="joint_5" type="revolute">
    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
    <axis xyz="0 1 0"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <origin xyz="0 0 0.0164"/>
    <dynamics damping="1.5e-2" friction="5"/>
  </joint>
  <link name="link_6">
    <visual>
      <geometry>
        <mesh filename="meshes/link_2.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="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
    </inertial>
  </link>
  <joint name="joint_6" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
    <parent link="link_5"/>
    <child link="link_6"/>
    <origin xyz="0 0 0.054"/>
    <dynamics damping="1.5e-2" friction="10"/>
  </joint>
  <link name="link_7">
    <visual>
      <geometry>
        <mesh filename="meshes/link_3.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="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
    </inertial>
  </link>
  <joint name="joint_7" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
    <parent link="link_6"/>
    <child link="link_7"/>
    <origin xyz="0 0 0.0384"/>
    <dynamics damping="1.5e-2" friction="12"/>
  </joint>
  <link name="link_7_tip">
    <visual>
      <geometry>
        <mesh filename="meshes/link_3_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="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
    </inertial>
  </link>
  <joint name="joint_7_tip" type="fixed">
    <parent link="link_7"/>
    <child link="link_7_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <link name="link_0">
    <visual>
      <geometry>
        <mesh filename="meshes/link_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="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
    </inertial>
  </link>
  <joint name="joint_0" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
    <parent link="base_link"/>
    <child link="link_0"/>
    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
    <dynamics damping="1.5e-2" friction="10"/>
  </joint>
  <link name="link_1">
    <visual>
      <geometry>
        <mesh filename="meshes/link_1.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="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
    </inertial>
  </link>
  <joint name="joint_1" type="revolute">
    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
    <axis xyz="0 1 0"/>
    <parent link="link_0"/>
    <child link="link_1"/>
    <origin xyz="0 0 0.0164"/>
    <dynamics damping="1.5e-2" friction="5"/>
  </joint>
  <link name="link_2">
    <visual>
      <geometry>
        <mesh filename="meshes/link_2.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="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
    </inertial>
  </link>
  <joint name="joint_2" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
    <parent link="link_1"/>
    <child link="link_2"/>
    <origin xyz="0 0 0.054"/>
    <dynamics damping="1.5e-2" friction="10"/>
  </joint>
  <link name="link_3">
    <visual>
      <geometry>
        <mesh filename="meshes/link_3.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="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
    </inertial>
  </link>
  <joint name="joint_3" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <origin xyz="0 0 0.0384"/>
    <dynamics damping="1.5e-2" friction="12"/>
  </joint>
  <link name="link_3_tip">
    <visual>
      <geometry>
        <mesh filename="meshes/link_3_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="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
    </inertial>
  </link>
  <joint name="joint_3_tip" type="fixed">
    <parent link="link_3"/>
    <child link="link_3_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
  </joint>
  <!-- THUMB -->
  <!--
<xacro:thumb_right
	finger_num=			"3"
	offset_origin_x=	"-0.0182"
	offset_origin_y=	"0.019333"
	offset_origin_z=	"-0.045987"


	finger_angle_r=		"0"
	finger_angle_p=		"-${95*DEG2RAD}"
	finger_angle_y=		"-${90*DEG2RAD}"
/>
-->
  <!--
	finger_angle_r=		"${90*DEG2RAD}"
	finger_angle_p=		"-${100*DEG2RAD}"
	finger_angle_y=		"${0*DEG2RAD}"
	-->
  <link name="link_12">
    <visual>
      <geometry>
        <!-- RIGHT -->
        <!-- <mesh filename="meshes/link_12_right.STL" /> -->
        <!-- LEFT -->
        <mesh filename="meshes/link_12_left.STL"/>
      </geometry>
      <material name="black">
        <color rgba=".2 .2 .2 1"/>
      </material>
      <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.0358 0.034 0.0455"/>
      </geometry>
      <!-- RIGHT -->
      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
      <!-- LEFT -->
      <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="8.13883e-06" ixy="-2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="1.46267e-06" izz="1.00171e-05"/>
    </inertial>
  </link>
  <joint name="joint_12" type="revolute">
    <axis xyz="+1 0 0"/>
    <limit effort="10.0" lower="0.363" upper="1.496" velocity="3.0"/>
    <parent link="base_link"/>
    <child link="link_12"/>
    <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
    <dynamics damping="1.5e-2" friction="10"/>
  </joint>
  <link name="link_13">
    <visual>
      <geometry>
        <mesh filename="meshes/link_13.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="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
    </inertial>
  </link>
  <joint name="joint_13" type="revolute">
    <axis xyz="0 0 -1"/>
    <limit effort="10.0" lower="-0.205" upper="1.163" velocity="3.0"/>
    <parent link="link_12"/>
    <child link="link_13"/>
    <!-- RIGHT -->
    <!-- <origin xyz="-0.027 0.005 0.0399"/> -->
    <!-- LEFT -->
    <origin xyz="-0.027 -0.005 0.0399"/>
    <dynamics damping="1.5e-2" friction="5"/>
  </joint>
  <link name="link_14">
    <visual>
      <geometry>
        <mesh filename="meshes/link_14.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="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
    </inertial>
  </link>
  <joint name="joint_14" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-0.289" upper="1.644" velocity="3.0"/>
    <parent link="link_13"/>
    <child link="link_14"/>
    <origin xyz="0 0 0.0177"/>
    <dynamics damping="1.5e-2" friction="10"/>
  </joint>
  <link name="link_15">
    <visual>
      <geometry>
        <mesh filename="meshes/link_15.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="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
    </inertial>
  </link>
  <joint name="joint_15" type="revolute">
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-0.262" upper="1.819" velocity="3.0"/>
    <parent link="link_14"/>
    <child link="link_15"/>
    <origin xyz="0 0 0.0514"/>
    <dynamics damping="1.5e-2" friction="12"/>
  </joint>
  <link name="link_15_tip">
    <visual>
      <geometry>
        <mesh filename="meshes/link_15_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="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
    </inertial>
  </link>
  <joint name="joint_15_tip" type="fixed">
    <parent link="link_15"/>
    <child link="link_15_tip"/>
    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
    <!--0.0267000000000005-->
  </joint>
  <!-- ============================================================================= -->
  <!-- ============================================================================= -->
  <!-- ============================================================================= -->
  <!-- THUMB MACRO -->
  <!-- END THUMB MACRO -->
  <!-- THREE FINGER MACRO -->
  <!-- [[END]] THREE FINGER MACRO -->
</robot>
