<robot
  name="h1">
  <link
    name="pelvis">
    <inertial>
      <origin
        xyz="-0.0002 4E-05 -0.04522"
        rpy="0 0 0" />
      <mass
        value="5.39" />
      <inertia
        ixx="0.044582"
        ixy="8.7034E-05"
        ixz="-1.9893E-05"
        iyy="0.0082464"
        iyz="4.021E-06"
        izz="0.049021" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/pelvis.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/pelvis.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="left_hip_yaw_link">
    <inertial>
      <origin
        xyz="-0.04923 0.0001 0.0072"
        rpy="0 0 0" />
      <mass
        value="2.244" />
      <inertia
        ixx="0.0025731"
        ixy="9.159E-06"
        ixz="-0.00051948"
        iyy="0.0030444"
        iyz="1.949E-06"
        izz="0.0022883" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_hip_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="-0.067 0 0"
        rpy="0 1.57075 0" />
      <geometry>
        <cylinder length="0.07" radius="0.06" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hip_yaw_joint"
    type="revolute">
    <origin
      xyz="0 0.0875 -0.1742"
      rpy="0 0 0" />
    <parent
      link="pelvis" />
    <child
      link="left_hip_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.43"
      upper="0.43"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="left_hip_roll_link">
    <inertial>
      <origin
        xyz="-0.0058 -0.00319 -9E-05"
        rpy="0 0 0" />
      <mass
        value="2.232" />
      <inertia
        ixx="0.0020603"
        ixy="3.2115E-05"
        ixz="2.878E-06"
        iyy="0.0022482"
        iyz="-7.813E-06"
        izz="0.0024323" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_hip_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_hip_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hip_roll_joint"
    type="revolute">
    <origin
      xyz="0.039468 0 0"
      rpy="0 0 0" />
    <parent
      link="left_hip_yaw_link" />
    <child
      link="left_hip_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.43"
      upper="0.43"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="left_hip_pitch_link">
    <inertial>
      <origin
        xyz="0.00746 -0.02346 -0.08193"
        rpy="0 0 0" />
      <mass
        value="4.152" />
      <inertia
        ixx="0.082618"
        ixy="-0.00066654"
        ixz="0.0040725"
        iyy="0.081579"
        iyz="0.0072024"
        izz="0.0060081" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_hip_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_hip_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hip_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0.11536 0"
      rpy="0 0 0" />
    <parent
      link="left_hip_roll_link" />
    <child
      link="left_hip_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="2.53"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="left_knee_link">
    <inertial>
      <origin
        xyz="-0.00136 -0.00512 -0.1384"
        rpy="0 0 0" />
      <mass
        value="1.721" />
      <inertia
        ixx="0.012205"
        ixy="-6.8431E-05"
        ixz="0.0010862"
        iyy="0.012509"
        iyz="0.00022549"
        izz="0.0020629" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_knee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_knee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_knee_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.4"
      rpy="0 0 0" />
    <parent
      link="left_hip_pitch_link" />
    <child
      link="left_knee_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.26"
      upper="2.05"
      effort="300"
      velocity="14" />
  </joint>
  <link
    name="left_ankle_link">
    <inertial>
      <origin
        xyz="0.042575 -0.000001 -0.044672"
        rpy="0 0 0" />
      <mass
        value="0.474" />
      <inertia
        ixx="0.000159668"
        ixy="-0.000000005"
        ixz="0.000141063"
        iyy="0.002900286"
        iyz="0.000000014"
        izz="0.002805438" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_ankle_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="package://h1_description/meshes/left_ankle_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_ankle_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.4"
      rpy="0 0 0" />
    <parent
      link="left_knee_link" />
    <child
      link="left_ankle_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.87"
      upper="0.52"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="right_hip_yaw_link">
    <inertial>
      <origin
        xyz="-0.04923 -0.0001 0.0072"
        rpy="0 0 0" />
      <mass
        value="2.244" />
      <inertia
        ixx="0.0025731"
        ixy="-9.159E-06"
        ixz="-0.00051948"
        iyy="0.0030444"
        iyz="-1.949E-06"
        izz="0.0022883" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_hip_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="-0.067 0 0"
        rpy="0 1.57075 0" />
      <geometry>
        <cylinder length="0.07" radius="0.06" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hip_yaw_joint"
    type="revolute">
    <origin
      xyz="0 -0.0875 -0.1742"
      rpy="0 0 0" />
    <parent
      link="pelvis" />
    <child
      link="right_hip_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.43"
      upper="0.43"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="right_hip_roll_link">
    <inertial>
      <origin
        xyz="-0.0058 0.00319 -9E-05"
        rpy="0 0 0" />
      <mass
        value="2.232" />
      <inertia
        ixx="0.0020603"
        ixy="-3.2115E-05"
        ixz="2.878E-06"
        iyy="0.0022482"
        iyz="7.813E-06"
        izz="0.0024323" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_hip_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_hip_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hip_roll_joint"
    type="revolute">
    <origin
      xyz="0.039468 0 0"
      rpy="0 0 0" />
    <parent
      link="right_hip_yaw_link" />
    <child
      link="right_hip_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.43"
      upper="0.43"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="right_hip_pitch_link">
    <inertial>
      <origin
        xyz="0.00746 0.02346 -0.08193"
        rpy="0 0 0" />
      <mass
        value="4.152" />
      <inertia
        ixx="0.082618"
        ixy="0.00066654"
        ixz="0.0040725"
        iyy="0.081579"
        iyz="-0.0072024"
        izz="0.0060081" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_hip_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_hip_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hip_pitch_joint"
    type="revolute">
    <origin
      xyz="0 -0.11536 0"
      rpy="0 0 0" />
    <parent
      link="right_hip_roll_link" />
    <child
      link="right_hip_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="2.53"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="right_knee_link">
    <inertial>
      <origin
        xyz="-0.00136 0.00512 -0.1384"
        rpy="0 0 0" />
      <mass
        value="1.721" />
      <inertia
        ixx="0.012205"
        ixy="6.8431E-05"
        ixz="0.0010862"
        iyy="0.012509"
        iyz="-0.00022549"
        izz="0.0020629" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_knee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_knee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_knee_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.4"
      rpy="0 0 0" />
    <parent
      link="right_hip_pitch_link" />
    <child
      link="right_knee_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.26"
      upper="2.05"
      effort="300"
      velocity="14" />
  </joint>
  <link
    name="right_ankle_link">
    <inertial>
      <origin
        xyz="0.042575 0.000001 -0.044672"
        rpy="0 0 0" />
      <mass
        value="0.474" />
      <inertia
        ixx="0.000159668"
        ixy="0.000000005"
        ixz="0.000141063"
        iyy="0.002900286"
        iyz="-0.000000014"
        izz="0.002805438" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_ankle_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_ankle_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_ankle_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.4"
      rpy="0 0 0" />
    <parent
      link="right_knee_link" />
    <child
      link="right_ankle_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.87"
      upper="0.52"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="torso_link">
    <inertial>
      <origin
        xyz="0.000489 0.002797 0.20484"
        rpy="0 0 0" />
      <mass
        value="17.789" />
      <inertia
        ixx="0.4873"
        ixy="-0.00053763"
        ixz="0.0020276"
        iyy="0.40963"
        iyz="-0.00074582"
        izz="0.12785" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/torso_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/torso_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="torso_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="pelvis" />
    <child
      link="torso_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.35"
      upper="2.35"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="left_shoulder_pitch_link">
    <inertial>
      <origin
        xyz="0.005045 0.053657 -0.015715"
        rpy="0 0 0" />
      <mass
        value="1.033" />
      <inertia
        ixx="0.0012985"
        ixy="-1.7333E-05"
        ixz="8.683E-06"
        iyy="0.00087279"
        iyz="3.9656E-05"
        izz="0.00097338" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_shoulder_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_shoulder_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_shoulder_pitch_joint"
    type="revolute">
    <origin
      xyz="0.0055 0.15535 0.42999"
      rpy="0.43633 0 0" />
    <parent
      link="torso_link" />
    <child
      link="left_shoulder_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.87"
      upper="2.87"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="left_shoulder_roll_link">
    <inertial>
      <origin
        xyz="0.000679 0.00115 -0.094076"
        rpy="0 0 0" />
      <mass
        value="0.793" />
      <inertia
        ixx="0.0015742"
        ixy="2.298E-06"
        ixz="-7.2265E-05"
        iyy="0.0016973"
        iyz="-6.3691E-05"
        izz="0.0010183" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_shoulder_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_shoulder_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_shoulder_roll_joint"
    type="revolute">
    <origin
      xyz="-0.0055 0.0565 -0.0165"
      rpy="-0.43633 0 0" />
    <parent
      link="left_shoulder_pitch_link" />
    <child
      link="left_shoulder_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.34"
      upper="3.11"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="left_shoulder_yaw_link">
    <inertial>
      <origin
        xyz="0.01365 0.002767 -0.16266"
        rpy="0 0 0" />
      <mass
        value="0.839" />
      <inertia
        ixx="0.003664"
        ixy="-1.0671E-05"
        ixz="0.00034733"
        iyy="0.0040789"
        iyz="7.0213E-05"
        izz="0.00066383" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_shoulder_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_shoulder_yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_shoulder_yaw_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.1343"
      rpy="0 0 0" />
    <parent
      link="left_shoulder_roll_link" />
    <child
      link="left_shoulder_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.3"
      upper="4.45"
      effort="18"
      velocity="20" />
  </joint>
  <link
    name="left_elbow_link">
    <inertial>
      <origin
        xyz="0.164862 0.000118 -0.015734"
        rpy="0 0 0" />
      <mass
        value="0.723" />
      <inertia
        ixx="0.00049639"
        ixy="-0.000033971"
        ixz="0.000316026"
        iyy="0.006456355"
        iyz="0.000004929"
        izz="0.006450997" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_elbow_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_elbow_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_elbow_joint"
    type="revolute">
    <origin
      xyz="0.0185 0 -0.198"
      rpy="0 0 0" />
    <parent
      link="left_shoulder_yaw_link" />
    <child
      link="left_elbow_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.25"
      upper="2.61"
      effort="18"
      velocity="20" />
  </joint>
  <link
    name="left_hand_link">
    <inertial>
      <origin
        xyz="0.003993 -0.000094 0"
        rpy="0 0 0" />
      <mass
        value="0.014" />
      <inertia
        ixx="0.000003449"
        ixy="0.000000006"
        ixz="0"
        iyy="0.000001917"
        iyz="0"
        izz="0.000001932" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_hand_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/left_hand_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_joint"
    type="revolute">
    <origin
      xyz="0.2605 0 -0.0185"
      rpy="0 0 0" />
    <parent
      link="left_elbow_link" />
    <child
      link="left_hand_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.0543261909900767596164588448551"
      upper="3.0543261909900767596164588448551"
      effort="6"
      velocity="12" />
  </joint>
    <joint 
      name="L_base_link_joint" 
      type="fixed">
      <origin
      xyz="0.003 0 0"
      rpy="0 0 1.5707963267948966192313216916398" />
      <parent link="left_hand_link"/>
      <child link="L_hand_base_link"/>
    </joint>

    <link name="L_hand_base_link">
      <inertial>
        <origin
          xyz="-0.002551 -0.066047 -0.0019357"
          rpy="0 0 0" />
        <mass
          value="0.14143" />
        <inertia
          ixx="0.0001234"
          ixy="2.1995E-06"
          ixz="-1.7694E-06"
          iyy="8.3835E-05"
          iyz="1.5968E-06"
          izz="7.7231E-05" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/L_hand_base_link.STL" />
        </geometry>
        <material name="">
          <color rgba="1 1 1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/L_hand_base_link.STL" />
        </geometry>
      </collision>
    </link>

    <link name="L_thumb_proximal_base">
      <inertial>
        <origin
          xyz="0.0048817 0.00038782 -0.00722"
          rpy="0 0 0" />
        <mass
          value="0.0018869" />
        <inertia
          ixx="5.5158E-08"
          ixy="-1.1803E-08"
          ixz="-4.6743E-09"
          iyy="8.2164E-08"
          iyz="-1.3521E-09"
          izz="6.7434E-08" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link11_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.82745 0.83922 0.82745 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link11_L.STL" />
        </geometry>
      </collision>
    </link>

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

    <link name="L_thumb_proximal">
      <inertial>
        <origin
          xyz="0.021936 -0.01279 -0.0080386"
          rpy="0 0 0" />
        <mass
          value="0.0066101" />
        <inertia
          ixx="1.5693E-06"
          ixy="7.8339E-07"
          ixz="8.5959E-10"
          iyy="1.7356E-06"
          iyz="1.0378E-09"
          izz="2.787E-06" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link12_L.STL" />
        </geometry>
        <material name="">
          <color rgba="1 1 1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link12_L.STL" />
        </geometry>
      </collision>
    </link>

    <joint
      name="L_thumb_proximal_pitch_joint"
      type="revolute">
      <origin
        xyz="0.0099867 0.0098242 -0.0089"
        rpy="-1.5708 0 0.16939" />
      <parent
        link="L_thumb_proximal_base" />
      <child
        link="L_thumb_proximal" />
      <axis
        xyz="0 0 -1" />
      <limit
        lower="-0.1"
        upper="0.6"
        effort="1"
        velocity="0.5" />
    </joint>

    <link name="L_thumb_intermediate">
      <inertial>
        <origin
          xyz="0.0095531 0.0016282 -0.0072002"
          rpy="0 0 0" />
        <mass
          value="0.0037844" />
        <inertia
          ixx="3.6981E-07"
          ixy="9.8603E-08"
          ixz="-2.8173E-12"
          iyy="3.2395E-07"
          iyz="-2.8028E-12"
          izz="4.6532E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link13_L.STL" />
        </geometry>
        <material name="">
          <color rgba="1 1 1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link13_L.STL" />
        </geometry>
      </collision>
    </link>

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

    <link name="L_thumb_distal">
      <inertial>
        <origin
          xyz="0.0092888 -0.004953 -0.0060033"
          rpy="0 0 0" />
        <mass
          value="0.003344" />
        <inertia
          ixx="1.3632E-07"
          ixy="5.6787E-08"
          ixz="-9.1939E-11"
          iyy="1.4052E-07"
          iyz="1.2145E-10"
          izz="2.0026E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link14_L.STL" />
        </geometry>
        <material name="">
          <color rgba="1 1 1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link14_L.STL" />
        </geometry>
      </collision>
    </link>

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

    <link name="L_index_proximal">
      <inertial>
        <origin
          xyz="0.0012971 -0.011934 -0.0059998"
          rpy="0 0 0" />
        <mass
          value="0.0042405" />
        <inertia
          ixx="6.6215E-07"
          ixy="1.8442E-08"
          ixz="1.3746E-12"
          iyy="2.1167E-07"
          iyz="-1.4773E-11"
          izz="6.9402E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link15_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.79216 0.81961 0.93333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link15_L.STL" />
        </geometry>
      </collision>
    </link>

    <joint
      name="L_index_proximal_joint"
      type="revolute">
      <origin
        xyz="0.00028533 -0.13653 0.032268"
        rpy="-0.034907 0 0" />
      <parent
        link="L_hand_base_link" />
      <child
        link="L_index_proximal" />
      <axis
        xyz="0 0 -1" />
      <limit
        lower="0"
        upper="1.7"
        effort="1"
        velocity="0.5" />
    </joint>

    <link name="L_index_intermediate">
      <inertial>
        <origin
          xyz="0.0021753 -0.019567 -0.005"
          rpy="0 0 0" />
        <mass
          value="0.0045682" />
        <inertia
          ixx="7.6284E-07"
          ixy="-8.063E-08"
          ixz="3.6797E-13"
          iyy="9.4308E-08"
          iyz="1.5743E-13"
          izz="7.8176E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link16_L.STL" />
        </geometry>
        <material name="">
          <color rgba="1 1 1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link16_L.STL" />
        </geometry>
      </collision>
    </link>

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

    <link name="L_middle_proximal">
      <inertial>
        <origin
          xyz="0.0012971 -0.011934 -0.0059999"
          rpy="0 0 0" />
        <mass
          value="0.0042405" />
        <inertia
          ixx="6.6215E-07"
          ixy="1.8442E-08"
          ixz="1.2299E-12"
          iyy="2.1167E-07"
          iyz="-1.4484E-11"
          izz="6.9402E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link17_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.79216 0.81961 0.93333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link17_L.STL" />
        </geometry>
      </collision>
    </link>

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

    <link name="L_middle_intermediate">
      <inertial>
        <origin
          xyz="0.001921 -0.020796 -0.0049999"
          rpy="0 0 0" />
        <mass
          value="0.0050397" />
        <inertia
          ixx="9.5823E-07"
          ixy="-1.1425E-07"
          ixz="-2.4186E-12"
          iyy="1.0646E-07"
          iyz="3.6974E-12"
          izz="9.8385E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link18_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.82745 0.83922 0.82745 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link18_L.STL" />
        </geometry>
      </collision>
    </link>
    
    <joint
      name="L_middle_intermediate_joint"
      type="revolute">
      <origin
        xyz="-0.0024229 -0.032041 -0.001"
        rpy="0 0 0" />
      <parent
        link="L_middle_proximal" />
      <child
        link="L_middle_intermediate" />
      <axis
        xyz="0 0 -1" />
      <limit
        lower="0"
        upper="1.7"
        effort="1"
        velocity="0.5" />
      <mimic 
        joint="L_middle_proximal_joint"
        multiplier="1"
        offset="0" />
    </joint>

    <link name="L_ring_proximal">
      <inertial>
        <origin
          xyz="0.0012971 -0.011934 -0.0059999"
          rpy="0 0 0" />
        <mass
          value="0.0042405" />
        <inertia
          ixx="6.6215E-07"
          ixy="1.8442E-08"
          ixz="9.6052E-13"
          iyy="2.1167E-07"
          iyz="-1.4124E-11"
          izz="6.9402E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link19_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.79216 0.81961 0.93333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link19_L.STL" />
        </geometry>
      </collision>
    </link>

    <joint
      name="L_ring_proximal_joint"
      type="revolute">
      <origin
        xyz="0.00028533 -0.13691 -0.0062872"
        rpy="0.05236 0 0" />
      <parent
        link="L_hand_base_link" />
      <child
        link="L_ring_proximal" />
      <axis
        xyz="0 0 -1" />
      <limit
        lower="0"
        upper="1.7"
        effort="1"
        velocity="0.5" />
    </joint>

    <link name="L_ring_intermediate">
      <inertial>
        <origin
          xyz="0.0021753 -0.019567 -0.005"
          rpy="0 0 0" />
        <mass
          value="0.0045682" />
        <inertia
          ixx="7.6285E-07"
          ixy="-8.0631E-08"
          ixz="3.3472E-14"
          iyy="9.4308E-08"
          iyz="-4.4773E-13"
          izz="7.8176E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link20_L.STL" />
        </geometry>
        <material name="">
          <color rgba="1 1 1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link20_L.STL" />
        </geometry>
      </collision>
    </link>

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

    <link name="L_pinky_proximal">
      <inertial>
        <origin
          xyz="0.0012971 -0.011934 -0.0059999"
          rpy="0 0 0" />
        <mass
          value="0.0042405" />
        <inertia
          ixx="6.6215E-07"
          ixy="1.8442E-08"
          ixz="1.0279E-12"
          iyy="2.1167E-07"
          iyz="-1.4277E-11"
          izz="6.9402E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link21_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.79216 0.81961 0.93333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link21_L.STL" />
        </geometry>
      </collision>
    </link>

    <joint
      name="L_pinky_proximal_joint"
      type="revolute">
      <origin
        xyz="0.00028533 -0.13571 -0.025488"
        rpy="0.10472 0 0" />
      <parent
        link="L_hand_base_link" />
      <child
        link="L_pinky_proximal" />
      <axis
        xyz="0 0 -1" />
      <limit
        lower="0"
        upper="1.7"
        effort="1"
        velocity="0.5" />
    </joint>

    <link name="L_pinky_intermediate">
      <inertial>
        <origin
          xyz="0.0024788 -0.016208 -0.0050001"
          rpy="0 0 0" />
        <mass
          value="0.0036036" />
        <inertia
          ixx="4.3923E-07"
          ixy="-4.1355E-08"
          ixz="1.2263E-12"
          iyy="7.0315E-08"
          iyz="3.1311E-12"
          izz="4.4881E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link22_L.STL" />
        </geometry>
        <material name="">
          <color rgba="1 1 1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="package://h1_description/meshes/Link22_L.STL" />
        </geometry>
      </collision>
    </link>

    <joint
      name="L_pinky_intermediate_joint"
      type="revolute">
      <origin
        xyz="-0.0024229 -0.032041 -0.001"
        rpy="0 0 0" />
      <parent
        link="L_pinky_proximal" />
      <child
        link="L_pinky_intermediate" />
      <axis
        xyz="0 0 -1" />
      <limit
        lower="0"
        upper="1.7"
        effort="1"
        velocity="0.5" />
      <mimic 
        joint="L_pinky_proximal_joint"
        multiplier="1"
        offset="0" />
    </joint>
  <link
    name="right_shoulder_pitch_link">
    <inertial>
      <origin
        xyz="0.005045 -0.053657 -0.015715"
        rpy="0 0 0" />
      <mass
        value="1.033" />
      <inertia
        ixx="0.0012985"
        ixy="1.7333E-05"
        ixz="8.683E-06"
        iyy="0.00087279"
        iyz="-3.9656E-05"
        izz="0.00097338" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_shoulder_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_shoulder_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_shoulder_pitch_joint"
    type="revolute">
    <origin
      xyz="0.0055 -0.15535 0.42999"
      rpy="-0.43633 0 0" />
    <parent
      link="torso_link" />
    <child
      link="right_shoulder_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.87"
      upper="2.87"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="right_shoulder_roll_link">
    <inertial>
      <origin
        xyz="0.000679 -0.00115 -0.094076"
        rpy="0 0 0" />
      <mass
        value="0.793" />
      <inertia
        ixx="0.0015742"
        ixy="-2.298E-06"
        ixz="-7.2265E-05"
        iyy="0.0016973"
        iyz="6.3691E-05"
        izz="0.0010183" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_shoulder_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_shoulder_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_shoulder_roll_joint"
    type="revolute">
    <origin
      xyz="-0.0055 -0.0565 -0.0165"
      rpy="0.43633 0 0" />
    <parent
      link="right_shoulder_pitch_link" />
    <child
      link="right_shoulder_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.11"
      upper="0.34"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="right_shoulder_yaw_link">
    <inertial>
      <origin
        xyz="0.01365 -0.002767 -0.16266"
        rpy="0 0 0" />
      <mass
        value="0.839" />
      <inertia
        ixx="0.003664"
        ixy="1.0671E-05"
        ixz="0.00034733"
        iyy="0.0040789"
        iyz="-7.0213E-05"
        izz="0.00066383" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_shoulder_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_shoulder_yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_shoulder_yaw_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.1343"
      rpy="0 0 0" />
    <parent
      link="right_shoulder_roll_link" />
    <child
      link="right_shoulder_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4.45"
      upper="1.3"
      effort="18"
      velocity="20" />
  </joint>
  <link
    name="right_elbow_link">
    <inertial>
      <origin
        xyz="0.164862 -0.000118 -0.015734"
        rpy="0 0 0" />
      <mass
        value="0.723" />
      <inertia
        ixx="0.00049639"
        ixy="0.000033971"
        ixz="0.000316026"
        iyy="0.006456355"
        iyz="-0.000004929"
        izz="0.006450997" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_elbow_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_elbow_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_elbow_joint"
    type="revolute">
    <origin
      xyz="0.0185 0 -0.198"
      rpy="0 0 0" />
    <parent
      link="right_shoulder_yaw_link" />
    <child
      link="right_elbow_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.25"
      upper="2.61"
      effort="18"
      velocity="20" />
  </joint>
  <link
    name="right_hand_link">
    <inertial>
      <origin
        xyz="0.003993 0.000094 0"
        rpy="0 0 0" />
      <mass
        value="0.014" />
      <inertia
        ixx="0.000003449"
        ixy="-0.000000006"
        ixz="0"
        iyy="0.000001917"
        iyz="0"
        izz="0.000001932" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_hand_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/right_hand_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_joint"
    type="revolute">
    <origin
      xyz="0.2605 0 -0.0185"
      rpy="0 0 0" />
    <parent
      link="right_elbow_link" />
    <child
      link="right_hand_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.0543261909900767596164588448551"
      upper="3.0543261909900767596164588448551"
      effort="6"
      velocity="12" />
  </joint>

    <joint 
      name="R_base_link_joint" 
      type="fixed">
      <origin
      xyz="0.003 0 0"
      rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
      <parent link="right_hand_link"/>
      <child link="R_hand_base_link"/>
    </joint>

  <link name="R_hand_base_link">
    <inertial>
      <origin
        xyz="-0.0025264 -0.066047 0.0019598"
        rpy="0 0 0" />
      <mass
        value="0.14143" />
      <inertia
        ixx="0.00012281"
        ixy="2.1711E-06"
        ixz="1.7709E-06"
        iyy="8.3832E-05"
        iyz="-1.6551E-06"
        izz="7.6663E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/R_hand_base_link.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/R_hand_base_link.STL" />
      </geometry>
    </collision>
  </link>

  <link name="R_thumb_proximal_base">
    <inertial>
      <origin
        xyz="-0.0048064 0.0009382 -0.00757"
        rpy="0 0 0" />
      <mass
        value="0.0018869" />
      <inertia
        ixx="5.816E-08"
        ixy="1.4539E-08"
        ixz="4.491E-09"
        iyy="7.9161E-08"
        iyz="-1.8727E-09"
        izz="6.7433E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link11_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link11_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_thumb_proximal">
    <inertial>
      <origin
        xyz="0.021932 0.012785 -0.0080386"
        rpy="0 0 0" />
      <mass
        value="0.0066075" />
      <inertia
        ixx="1.5686E-06"
        ixy="-7.8296E-07"
        ixz="8.9143E-10"
        iyy="1.7353E-06"
        iyz="-1.0191E-09"
        izz="2.786E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link12_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link12_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_thumb_intermediate">
    <inertial>
      <origin
        xyz="0.0095544 -0.0016282 -0.0071997"
        rpy="0 0 0" />
      <mass
        value="0.0037847" />
      <inertia
        ixx="3.6981E-07"
        ixy="-9.8581E-08"
        ixz="-4.7469E-12"
        iyy="3.2394E-07"
        iyz="1.0939E-12"
        izz="4.6531E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link13_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link13_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_thumb_distal">
    <inertial>
      <origin
        xyz="0.0092888 0.0049529 -0.0060033"
        rpy="0 0 0" />
      <mass
        value="0.0033441" />
      <inertia
        ixx="1.3632E-07"
        ixy="-5.6788E-08"
        ixz="-9.2764E-11"
        iyy="1.4052E-07"
        iyz="-1.2283E-10"
        izz="2.0026E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link14_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link14_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_index_proximal">
    <inertial>
      <origin
        xyz="0.0012259 0.011942 -0.0060001"
        rpy="0 0 0" />
      <mass
        value="0.0042403" />
      <inertia
        ixx="6.6232E-07"
        ixy="-1.5775E-08"
        ixz="1.8515E-12"
        iyy="2.1146E-07"
        iyz="-5.0828E-12"
        izz="6.9398E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link15_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link15_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_index_intermediate">
    <inertial>
      <origin
        xyz="0.0019697 0.019589 -0.005"
        rpy="0 0 0" />
      <mass
        value="0.0045683" />
      <inertia
        ixx="7.6111E-07"
        ixy="8.7637E-08"
        ixz="-3.7751E-13"
        iyy="9.6076E-08"
        iyz="9.9444E-13"
        izz="7.8179E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link16_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link16_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_middle_proximal">
    <inertial>
      <origin
        xyz="0.001297 0.011934 -0.0060001"
        rpy="0 0 0" />
      <mass
        value="0.0042403" />
      <inertia
        ixx="6.6211E-07"
        ixy="-1.8461E-08"
        ixz="1.8002E-12"
        iyy="2.1167E-07"
        iyz="-6.6808E-12"
        izz="6.9397E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link17_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link17_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_middle_intermediate">
    <inertial>
      <origin
        xyz="0.001921 0.020796 -0.005"
        rpy="0 0 0" />
      <mass
        value="0.0050396" />
      <inertia
        ixx="9.5822E-07"
        ixy="1.1425E-07"
        ixz="-2.4791E-12"
        iyy="1.0646E-07"
        iyz="5.9173E-12"
        izz="9.8384E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link18_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link18_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_ring_proximal">
    <inertial>
      <origin
        xyz="0.001297 0.011934 -0.0060002"
        rpy="0 0 0" />
      <mass
        value="0.0042403" />
      <inertia
        ixx="6.6211E-07"
        ixy="-1.8461E-08"
        ixz="1.5793E-12"
        iyy="2.1167E-07"
        iyz="-6.6868E-12"
        izz="6.9397E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link19_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link19_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_ring_intermediate">
    <inertial>
      <origin
        xyz="0.0021753 0.019567 -0.005"
        rpy="0 0 0" />
      <mass
        value="0.0045683" />
      <inertia
        ixx="7.6286E-07"
        ixy="8.0635E-08"
        ixz="-6.1562E-13"
        iyy="9.431E-08"
        iyz="5.8619E-13"
        izz="7.8177E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link20_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link20_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_pinky_proximal">
    <inertial>
      <origin
        xyz="0.001297 0.011934 -0.0060001"
        rpy="0 0 0" />
      <mass
        value="0.0042403" />
      <inertia
        ixx="6.6211E-07"
        ixy="-1.8461E-08"
        ixz="1.6907E-12"
        iyy="2.1167E-07"
        iyz="-6.9334E-12"
        izz="6.9397E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link21_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link21_R.STL" />
      </geometry>
    </collision>
  </link>

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

  <link name="R_pinky_intermediate">
    <inertial>
      <origin
        xyz="0.0024748 0.016203 -0.0050031"
        rpy="0 0 0" />
      <mass
        value="0.0035996" />
      <inertia
        ixx="4.3913E-07"
        ixy="4.1418E-08"
        ixz="3.7168E-11"
        iyy="7.0247E-08"
        iyz="5.8613E-11"
        izz="4.4867E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link22_R.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="package://h1_description/meshes/Link22_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_pinky_intermediate_joint"
    type="revolute">
    <origin
      xyz="-0.0024229 0.032041 -0.001"
      rpy="0 0 0" />
    <parent
      link="R_pinky_proximal" />
    <child
      link="R_pinky_intermediate" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.7"
      effort="1"
      velocity="0.5" />
    <mimic 
      joint="R_pinky_proximal_joint"
      multiplier="1"
      offset="0" />
  </joint>
  <link
    name="logo_link">
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/logo_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://h1_description/meshes/logo_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="logo_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="torso_link" />
    <child
      link="logo_link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>