<robot
  name="h1">

    <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="./meshes/L_hand_base_link.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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="./meshes/Link11_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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="./meshes/Link12_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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="0.0"
        upper="0.5"
        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="./meshes/Link13_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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="./meshes/Link14_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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="./meshes/Link15_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./meshes/Link15_L.STL" />
        </geometry>
      </collision>
    </link>

    <link name="L_thumb_tip">
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1" />
      </material>
    </visual>
  </link>
  <joint name="L_thumb_tip_joint" type="fixed">
    <parent link="L_thumb_distal"/>
    <child link="L_thumb_tip"/>
    <origin rpy="0 0 0" xyz="0.015 -0.013 -0.004"/>
  </joint>

    <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="./meshes/Link16_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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_index_tip">
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1" />
      </material>
    </visual>
  </link>
  <joint name="L_index_tip_joint" type="fixed">
    <parent link="L_index_intermediate"/>
    <child link="L_index_tip"/>
    <origin rpy="0 0 0" xyz="-0.005 -0.04 -0.004"/>
  </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="./meshes/Link17_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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="./meshes/Link18_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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_middle_tip">
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1" />
      </material>
    </visual>
  </link>
  <joint name="L_middle_tip_joint" type="fixed">
    <parent link="L_middle_intermediate"/>
    <child link="L_middle_tip"/>
    <origin rpy="0 0 0" xyz="-0.005 -0.045 -0.004"/>
  </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="./meshes/Link19_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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="./meshes/Link20_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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_ring_tip">
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1" />
      </material>
    </visual>
  </link>
  <joint name="L_ring_tip_joint" type="fixed">
    <parent link="L_ring_intermediate"/>
    <child link="L_ring_tip"/>
    <origin rpy="0 0 0" xyz="-0.002 -0.04 -0.004"/>
  </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="./meshes/Link21_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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="./meshes/Link22_L.STL" />
        </geometry>
        <material name="">
          <color rgba="0.1 0.1 0.1 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh filename="./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="L_pinky_tip">
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1" />
      </material>
    </visual>
  </link>
  <joint name="L_pinky_tip_joint" type="fixed">
    <parent link="L_pinky_intermediate"/>
    <child link="L_pinky_tip"/>
    <origin rpy="0 0 0" xyz="-0.002 -0.032 -0.004"/>
  </joint>

</robot>