eve_r3.urdf

<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<!--
Copyright 2019 Halodi Robotics AS
Author: Jesper Smith (jesper@halodi.com)

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

<http://www.apache.org/licenses/LICENSE-2.0>.

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<robot xmlns:ns2="http://www.ros.org" xmlns:xi="http://www.w3.org/2003/XInclude" name="eve_r3">

  <link name="pelvis">
    <inertial>
      <origin xyz="-0.01035145 -0.00576441 0.41289202" rpy="0.0 0.0 0.0"/>
      <mass value="10.11628645"/>
      <inertia ixx="0.16934147" ixy="1.49E-4" ixz="0.00652485" iyy="0.1566806" iyz="-0.00748297" izz="0.05486492"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963"/>
      <geometry>
        <mesh filename="meshes/torso.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_hip_z" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="pelvis"/>
    <child link="abdomen"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit lower="-1.0472" upper="1.0472" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="abdomen">
    <inertial>
      <origin xyz="-0.05558735 0.00156974 0.13110756" rpy="0.0 0.0 0.0"/>
      <mass value="3.4381772"/>
      <inertia ixx="0.05607222" ixy="7.0118E-4" ixz="-0.01468099" iyy="0.05435718" iyz="-0.00188443" izz="0.02016737"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963"/>
      <geometry>
        <mesh filename="meshes/abdomen.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_hip_x" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="abdomen"/>
    <child link="hip_x_link"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit lower="-0.523599" upper="0.523599" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="hip_x_link">
    <inertial>
      <origin xyz="-0.013462 -0.001267 -7.7E-5" rpy="0.0 0.0 0.0"/>
      <mass value="2.868669"/>
      <inertia ixx="0.013678" ixy="5.6E-5" ixz="-7.6E-4" iyy="0.014884" iyz="1.4E-5" izz="0.016484"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963"/>
      <geometry>
        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_hip_y" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="hip_x_link"/>
    <child link="thigh"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit lower="-1.57" upper="0.174533" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="thigh">
    <inertial>
      <origin xyz="0.048668 0.002117 -0.216367" rpy="0.0 0.0 0.0"/>
      <mass value="12.846698"/>
      <inertia ixx="0.172201" ixy="-0.001348" ixz="0.012646" iyy="0.155119" iyz="-6.0E-4" izz="0.076153"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963"/>
      <geometry>
        <mesh filename="meshes/thigh.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_knee_y" type="revolute">
    <origin xyz="0.0 0.0 -0.4" rpy="0.0 0.0 0.0"/>
    <parent link="thigh"/>
    <child link="shin"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit lower="0.0" upper="2.583" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="shin">
    <inertial>
      <origin xyz="0.019484 6.7E-5 -0.167324" rpy="0.0 0.0 0.0"/>
      <mass value="10.894892"/>
      <inertia ixx="0.191988" ixy="-2.08E-4" ixz="0.005202" iyy="0.176793" iyz="-3.45E-4" izz="0.049718"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963"/>
      <geometry>
        <mesh filename="meshes/shin.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_ankle_y" type="revolute">
    <origin xyz="0.0 0.0 -0.38" rpy="0.0 0.0 0.0"/>
    <parent link="shin"/>
    <child link="ankle_y_link"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit lower="-1.57" upper="0.174533" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="ankle_y_link">
    <inertial>
      <origin xyz="-0.017821 0.001497 -6.49E-4" rpy="0.0 0.0 0.0"/>
      <mass value="2.656189"/>
      <inertia ixx="0.010249" ixy="-8.2E-5" ixz="2.65E-4" iyy="0.009117" iyz="9.0E-6" izz="0.013843"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963"/>
      <geometry>
        <mesh filename="meshes/ankle.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_ankle_x" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="ankle_y_link"/>
    <child link="base"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit lower="-0.523599" upper="0.523599" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="base">
    <inertial>
      <origin xyz="0.021997 0.006327 -0.006204" rpy="0.0 0.0 0.0"/>
      <mass value="13.647499"/>
      <inertia ixx="0.461101" ixy="-0.004042" ixz="-0.020010" iyy="0.246583" iyz="-0.000110" izz="0.679520"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963"/>
      <geometry>
        <mesh filename="meshes/base.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_l_wheel_y" type="continuous">
    <origin xyz="0.142 0.26983 0.019" rpy="0.0 0.0 0.0"/>
    <parent link="base"/>
    <child link="l_wheel"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit lower="-1.0E16" upper="1.0E16" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="l_wheel">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="1.52693"/>
      <inertia ixx="0.007129" ixy="-0.0" ixz="-0.0" iyy="0.013685" iyz="-0.0" izz="0.007131"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 -1.5707963"/>
      <geometry>
        <mesh filename="meshes/wheel.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_r_wheel_y" type="continuous">
    <origin xyz="0.142 -0.26983 0.019" rpy="0.0 0.0 0.0"/>
    <parent link="base"/>
    <child link="r_wheel"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit lower="-1.0E16" upper="1.0E16" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="r_wheel">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="1.52693"/>
      <inertia ixx="0.007129" ixy="-0.0" ixz="-0.0" iyy="0.013685" iyz="-0.0" izz="0.007131"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963"/>
      <geometry>
        <mesh filename="meshes/wheel.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <gazebo reference="pelvis">
    <sensor name="imu_sensor" type="imu">
      <always_on>1</always_on>
      <update_rate>1000</update_rate>
      <imu>
        <noise>
          <type>gaussian</type>
          <rate>
            <mean>0</mean>
            <stddev>0.0002</stddev>
            <bias_mean>7.5e-06</bias_mean>
            <bias_stddev>8e-07</bias_stddev>
          </rate>
          <accel>
            <mean>0</mean>
            <stddev>0.017</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
      <pose frame="">0.0 0.0 0.142 0 0.0 0</pose>
    </sensor>
  </gazebo>


  <joint name="j_r_shoulder_y" type="revolute">
    <origin xyz="0.010525 -0.207221 0.545525" rpy="-0.253261563 0.0 0.261799"/>
    <parent link="pelvis"/>
    <child link="r_scapula"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit lower="-2.4240878" upper="0.981049573" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="r_scapula">
    <inertial>
      <origin xyz="6.1099E-4 0.06306661 0.03032448" rpy="0.0 0.0 0.0"/>
      <mass value="2.75566786"/>
      <inertia ixx="0.00936557" ixy="2.264E-5" ixz="-7.112E-5" iyy="0.01079015" iyz="8.423E-4" izz="0.01267759"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes/scapula.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_r_shoulder_x" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.253261563 0.0 0.0"/>
    <parent link="r_scapula"/>
    <child link="r_shoulder"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit lower="-2.0943951" upper="0.0872665" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="r_shoulder">
    <inertial>
      <origin xyz="0.0 -7.0614E-4 -0.01975465" rpy="0.0 0.0 0.0"/>
      <mass value="0.70264272"/>
      <inertia ixx="0.00115475" ixy="-3.2E-7" ixz="-1.4E-7" iyy="0.00143713" iyz="2.63E-6" izz="9.4633E-4"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159 0 0"/>
      <geometry>
        <mesh filename="meshes/shoulder.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_r_shoulder_z" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.261799"/>
    <parent link="r_shoulder"/>
    <child link="r_upper_arm"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit lower="-0.5410525" upper="1.4660761" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="r_upper_arm">
    <inertial>
      <origin xyz="-0.0062579 3.507E-5 -0.17187666" rpy="0.0 0.0 0.0"/>
      <mass value="2.92531724"/>
      <inertia ixx="0.01341653" ixy="-6.4E-7" ixz="-2.9063E-4" iyy="0.01287847" iyz="-3.08E-6" izz="0.00487381"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 3.14159"/>
      <geometry>
        <mesh filename="meshes/upper_arm.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_r_elbow_y" type="revolute">
    <origin xyz="0.0 0.0 -0.313989" rpy="0.0 0.0 0.0"/>
    <parent link="r_upper_arm"/>
    <child link="r_elbow"/>
    <axis xyz="0.0 1 0.0"/>
    <limit lower="-2.18166" upper="0.0" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="r_elbow">
    <inertial>
      <origin xyz="5.494E-5 0.0 -0.00888504" rpy="0.0 0.0 0.0"/>
      <mass value="0.46261553"/>
      <inertia ixx="8.227E-4" ixy="-0.0" ixz="9.6E-7" iyy="3.6441E-4" iyz="-0.0" izz="6.1472E-4"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159 1.5707963"/>
      <geometry>
        <mesh filename="meshes/elbow.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_r_elbow_z" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="r_elbow"/>
    <child link="r_lower_arm"/>
    <axis xyz="0.0 0.0 1"/>
    <limit lower="-0.7854" upper="1.5708" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="r_lower_arm">
    <inertial>
      <origin xyz="-4.326E-5 3.091E-5 -0.13751046" rpy="0.0 0.0 0.0"/>
      <mass value="1.63933464"/>
      <inertia ixx="0.00678741" ixy="1.11E-6" ixz="-1.253E-5" iyy="0.00706746" iyz="1.485E-5" izz="0.00183806"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 -0.292850" rpy="0.0 3.14159 0.0"/>
      <geometry>
        <mesh filename="meshes/forearm.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_r_wrist_y" type="revolute">
    <origin xyz="0.0 0.0 -0.292850" rpy="0.0 0.0 0.0"/>
    <parent link="r_lower_arm"/>
    <child link="r_wrist"/>
    <axis xyz="0.0 1 0.0"/>
    <limit lower="-0.785398" upper="0.785398" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="r_wrist">
    <inertial>
      <origin xyz="0.00240142 7.9666E-4 -0.00125392" rpy="0.0 0.0 0.0"/>
      <mass value="0.30363399"/>
      <inertia ixx="1.8188E-4" ixy="2.27E-6" ixz="-2.16E-6" iyy="1.6139E-4" iyz="-9.5E-7" izz="2.7335E-4"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708"/>
      <geometry>
        <mesh filename="meshes/wrist.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_r_wrist_x" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="r_wrist"/>
    <child link="r_palm"/>
    <axis xyz="1 0.0 0.0"/>
    <limit lower="-0.523599" upper="1.5708" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="r_palm">
    <inertial>
      <origin xyz="0.00618476 -0.00346679 -0.01888817" rpy="0.0 0.0 0.0"/>
      <mass value="0.1486378"/>
      <inertia ixx="1.177E-4" ixy="-2.72E-6" ixz="-1.656E-5" iyy="2.8407E-4" iyz="-5.49E-6" izz="2.1805E-4"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="-1.5707963 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes/palm.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <material name="qbhand_right/optional">
    <color rgba="0.0 0.5 0.8 1.0"/>
  </material>
  <material name="qbhand_right/base">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_right/palm">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_right/knuckle">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_right/proximal">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_right/middle">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_right/distal">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_right/default">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <joint name="qbhand_right_base_fixed_joint" type="fixed">
    <origin rpy="3.14 0 3.14" xyz="0 0 -0.06"/>
    <parent link="r_palm"/>
    <child link="qbhand_right_base_link"/>
  </joint>
  <link name="qbhand_right_base_link">
    <inertial>
      <mass value="0.15"/>
      <origin xyz="0 0 0.0015"/>
      <inertia ixx="6e-05" ixy="0" ixz="0" iyy="6e-05" iyz="0" izz="9e-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/flange_iso_04.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/base"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/flange_iso_04.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_palm_fixed_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.0045 0.0145 0.144"/>
    <parent link="qbhand_right_base_link"/>
    <child link="qbhand_right_palm_link"/>
  </joint>
  <link name="qbhand_right_palm_link">
    <inertial>
      <mass value="0.36"/>
      <origin xyz="0.0 0.02 0.05"/>
      <inertia ixx="0.00045" ixy="0.0" ixz="0.0" iyy="0.0006" iyz="0.0" izz="0.00025"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/palm_pinch_r.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/palm"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/palm_pinch_r.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_synergy_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="qbhand_right_palm_link"/>
    <child link="qbhand_right_tendon_virtual_link"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="1.0" velocity="100"/>
  </joint>
  <link name="qbhand_right_tendon_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_thumb_knuckle_joint" type="fixed">
    <origin rpy="-1.57 3.14 0" xyz="-0.0435 -0.0435 -0.002"/>
    <parent link="qbhand_right_palm_link"/>
    <child link="qbhand_right_thumb_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="1.571" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="2.542"/>
  </joint>
  <link name="qbhand_right_thumb_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_thumb_r.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_thumb_r.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_thumb_proximal_joint" type="fixed">
    <origin rpy="-1.15 0.0 0.0" xyz="0.0255 -0.004 -0.0025"/>
    <parent link="qbhand_right_thumb_knuckle_link"/>
    <child link="qbhand_right_thumb_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_thumb_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_thumb_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_thumb_proximal_virtual_link"/>
    <child link="qbhand_right_thumb_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_thumb_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_thumb_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_thumb_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_right_thumb_proximal_link"/>
    <child link="qbhand_right_thumb_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_thumb_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_thumb_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_thumb_distal_virtual_link"/>
    <child link="qbhand_right_thumb_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_thumb_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_thumb_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_index_knuckle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.02 -0.007 0.014"/>
    <parent link="qbhand_right_palm_link"/>
    <child link="qbhand_right_index_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="-0.524" upper="0.524" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="-0.2"/>
  </joint>
  <link name="qbhand_right_index_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_index_proximal_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0 0.009 0"/>
    <parent link="qbhand_right_index_knuckle_link"/>
    <child link="qbhand_right_index_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_index_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_index_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_index_proximal_virtual_link"/>
    <child link="qbhand_right_index_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_index_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_index_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_index_middle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.017 0 0"/>
    <parent link="qbhand_right_index_proximal_link"/>
    <child link="qbhand_right_index_middle_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_index_middle_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_index_middle_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_index_middle_virtual_link"/>
    <child link="qbhand_right_index_middle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_index_middle_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_index_middle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/middle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_index_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_right_index_middle_link"/>
    <child link="qbhand_right_index_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_index_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_index_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_index_distal_virtual_link"/>
    <child link="qbhand_right_index_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_index_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_index_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_middle_knuckle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.014"/>
    <parent link="qbhand_right_palm_link"/>
    <child link="qbhand_right_middle_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="-0.524" upper="0.524" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.0"/>
  </joint>
  <link name="qbhand_right_middle_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_middle_proximal_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0 0.009 0"/>
    <parent link="qbhand_right_middle_knuckle_link"/>
    <child link="qbhand_right_middle_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_middle_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_middle_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_middle_proximal_virtual_link"/>
    <child link="qbhand_right_middle_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_middle_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_middle_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_middle_middle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.017 0 0"/>
    <parent link="qbhand_right_middle_proximal_link"/>
    <child link="qbhand_right_middle_middle_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_middle_middle_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_middle_middle_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_middle_middle_virtual_link"/>
    <child link="qbhand_right_middle_middle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_middle_middle_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_middle_middle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/middle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_middle_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_right_middle_middle_link"/>
    <child link="qbhand_right_middle_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_middle_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_middle_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_middle_distal_virtual_link"/>
    <child link="qbhand_right_middle_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_middle_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_middle_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_ring_knuckle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.02 -0.007 0.014"/>
    <parent link="qbhand_right_palm_link"/>
    <child link="qbhand_right_ring_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="-0.524" upper="0.524" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.2"/>
  </joint>
  <link name="qbhand_right_ring_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_ring_proximal_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0 0.009 0"/>
    <parent link="qbhand_right_ring_knuckle_link"/>
    <child link="qbhand_right_ring_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_ring_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_ring_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_ring_proximal_virtual_link"/>
    <child link="qbhand_right_ring_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_ring_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_ring_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_ring_middle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.017 0 0"/>
    <parent link="qbhand_right_ring_proximal_link"/>
    <child link="qbhand_right_ring_middle_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_ring_middle_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_ring_middle_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_ring_middle_virtual_link"/>
    <child link="qbhand_right_ring_middle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_ring_middle_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_ring_middle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/middle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_ring_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_right_ring_middle_link"/>
    <child link="qbhand_right_ring_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_ring_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_ring_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_ring_distal_virtual_link"/>
    <child link="qbhand_right_ring_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_ring_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_ring_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_little_knuckle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.04 -0.012 0.014"/>
    <parent link="qbhand_right_palm_link"/>
    <child link="qbhand_right_little_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="-0.524" upper="0.524" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.4"/>
  </joint>
  <link name="qbhand_right_little_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_little_proximal_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0 0.009 0"/>
    <parent link="qbhand_right_little_knuckle_link"/>
    <child link="qbhand_right_little_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_little_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_little_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_little_proximal_virtual_link"/>
    <child link="qbhand_right_little_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_little_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_little_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_little_middle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_right_little_proximal_link"/>
    <child link="qbhand_right_little_middle_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_little_middle_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_little_middle_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_little_middle_virtual_link"/>
    <child link="qbhand_right_little_middle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_little_middle_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_little_middle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/middle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_right_little_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_right_little_middle_link"/>
    <child link="qbhand_right_little_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_right_little_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_right_little_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_right_little_distal_virtual_link"/>
    <child link="qbhand_right_little_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_right_little_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_right_little_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_right/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>


  <joint name="j_l_shoulder_y" type="revolute">
    <origin xyz="0.010525 0.207221 0.545525" rpy="0.253261563 0.0 -0.261799"/>
    <parent link="pelvis"/>
    <child link="l_scapula"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit lower="-2.4240878" upper="0.981049573" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="l_scapula">
    <inertial>
      <origin xyz="-6.1099E-4 -0.06306661 0.03032448" rpy="0.0 0.0 0.0"/>
      <mass value="2.75566786"/>
      <inertia ixx="0.00936557" ixy="2.264E-5" ixz="7.112E-5" iyy="0.01079015" iyz="-8.423E-4" izz="0.01267759"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 3.14159"/>
      <geometry>
        <mesh filename="meshes/scapula.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_l_shoulder_x" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="-0.253261563 0.0 0.0"/>
    <parent link="l_scapula"/>
    <child link="l_shoulder"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit lower="-0.0872665" upper="2.0943951" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="l_shoulder">
    <inertial>
      <origin xyz="0.0 7.0624E-4 -0.01975437" rpy="0.0 0.0 0.0"/>
      <mass value="0.70265653"/>
      <inertia ixx="0.00115475" ixy="-3.2E-7" ixz="1.3E-7" iyy="0.00143715" iyz="-2.63E-6" izz="9.4634E-4"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes/shoulder.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_l_shoulder_z" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.261799"/>
    <parent link="l_shoulder"/>
    <child link="l_upper_arm"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit lower="-1.4660761" upper="0.5410525" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="l_upper_arm">
    <inertial>
      <origin xyz="-0.0062579 3.507E-5 -0.17187666" rpy="0.0 0.0 0.0"/>
      <mass value="2.92531724"/>
      <inertia ixx="0.01341653" ixy="-6.4E-7" ixz="-2.9063E-4" iyy="0.01287847" iyz="-3.08E-6" izz="0.00487381"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 3.14159"/>
      <geometry>
        <mesh filename="meshes/upper_arm.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_l_elbow_y" type="revolute">
    <origin xyz="0.0 0.0 -0.313989" rpy="0.0 0.0 0.0"/>
    <parent link="l_upper_arm"/>
    <child link="l_elbow"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit lower="-2.18166" upper="0.0" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="l_elbow">
    <inertial>
      <origin xyz="5.494E-5 0.0 -0.00888504" rpy="0.0 0.0 0.0"/>
      <mass value="0.46261553"/>
      <inertia ixx="8.227E-4" ixy="-0.0" ixz="9.6E-7" iyy="3.6441E-4" iyz="-0.0" izz="6.1472E-4"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159 1.5707963"/>
      <geometry>
        <mesh filename="meshes/elbow.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_l_elbow_z" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="l_elbow"/>
    <child link="l_lower_arm"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit lower="-1.5708" upper="0.7854" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="l_lower_arm">
    <inertial>
      <origin xyz="-4.326E-5 3.091E-5 -0.13751046" rpy="0.0 0.0 0.0"/>
      <mass value="1.63933464"/>
      <inertia ixx="0.00678741" ixy="1.11E-6" ixz="-1.253E-5" iyy="0.00706746" iyz="1.485E-5" izz="0.00183806"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 -0.29285" rpy="0.0 3.14159 0.0"/>
      <geometry>
        <mesh filename="meshes/forearm.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_l_wrist_y" type="revolute">
    <origin xyz="0.0 0.0 -0.29285" rpy="0.0 0.0 0.0"/>
    <parent link="l_lower_arm"/>
    <child link="l_wrist"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit lower="-0.785398" upper="0.785398" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="l_wrist">
    <inertial>
      <origin xyz="0.00240142 7.9666E-4 -0.00125392" rpy="0.0 0.0 0.0"/>
      <mass value="0.30363399"/>
      <inertia ixx="1.8188E-4" ixy="2.27E-6" ixz="-2.16E-6" iyy="1.6139E-4" iyz="-9.5E-7" izz="2.7335E-4"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708"/>
      <geometry>
        <mesh filename="meshes/wrist.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <joint name="j_l_wrist_x" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="l_wrist"/>
    <child link="l_palm"/>
    <axis xyz="1.0 0.0 0.0"/>
    <limit lower="-1.5708" upper="0.523599" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="l_palm">
    <inertial>
      <origin xyz="0.00618476 -0.00346679 -0.01888817" rpy="0.0 0.0 0.0"/>
      <mass value="0.1486378"/>
      <inertia ixx="1.177E-4" ixy="-2.72E-6" ixz="-1.656E-5" iyy="2.8407E-4" iyz="-5.49E-6" izz="2.1805E-4"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="-1.5707963 0.0 3.14159"/>
      <geometry>
        <mesh filename="meshes/palm.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <material name="qbhand_left/optional">
    <color rgba="0.0 0.5 0.8 1.0"/>
  </material>
  <material name="qbhand_left/base">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_left/palm">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_left/knuckle">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_left/proximal">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_left/middle">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_left/distal">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <material name="qbhand_left/default">
    <color rgba="0.35 0.35 0.35 1.0"/>
  </material>
  <joint name="qbhand_left_base_fixed_joint" type="fixed">
    <origin rpy="3.14 0 0.0" xyz="0 0 -0.06"/>
    <parent link="l_palm"/>
    <child link="qbhand_left_base_link"/>
  </joint>
  <link name="qbhand_left_base_link">
    <inertial>
      <mass value="0.15"/>
      <origin xyz="0 0 0.0015"/>
      <inertia ixx="6e-05" ixy="0" ixz="0" iyy="6e-05" iyz="0" izz="9e-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/flange_iso_04.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/base"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/flange_iso_04.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_palm_fixed_joint" type="fixed">
    <origin rpy="1.57 0 3.14" xyz="0.0045 0.0145 0.144"/>
    <parent link="qbhand_left_base_link"/>
    <child link="qbhand_left_palm_link"/>
  </joint>
  <link name="qbhand_left_palm_link">
    <inertial>
      <mass value="0.36"/>
      <origin xyz="0.0 0.02 0.05"/>
      <inertia ixx="0.00045" ixy="0.0" ixz="0.0" iyy="0.0006" iyz="0.0" izz="0.00025"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/palm_pinch_l.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/palm"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/palm_pinch_l.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_synergy_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="qbhand_left_palm_link"/>
    <child link="qbhand_left_tendon_virtual_link"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="1.0" velocity="100"/>
  </joint>
  <link name="qbhand_left_tendon_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_thumb_knuckle_joint" type="fixed">
    <origin rpy="1.57 3.14 0" xyz="-0.0435 -0.0435 -0.002"/>
    <parent link="qbhand_left_palm_link"/>
    <child link="qbhand_left_thumb_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="1.571" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="2.542"/>
  </joint>
  <link name="qbhand_left_thumb_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_thumb_l.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_thumb_l.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_thumb_proximal_joint" type="fixed">
    <origin rpy="1.15 0.0 0.0" xyz="0.0255 -0.004 0.0025"/>
    <parent link="qbhand_left_thumb_knuckle_link"/>
    <child link="qbhand_left_thumb_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_thumb_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_thumb_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_thumb_proximal_virtual_link"/>
    <child link="qbhand_left_thumb_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_thumb_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_thumb_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_thumb_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_left_thumb_proximal_link"/>
    <child link="qbhand_left_thumb_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_thumb_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_thumb_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_thumb_distal_virtual_link"/>
    <child link="qbhand_left_thumb_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_thumb_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_thumb_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_index_knuckle_joint" type="fixed">
    <origin rpy="0 3.14 0" xyz="-0.02 -0.007 -0.014"/>
    <parent link="qbhand_left_palm_link"/>
    <child link="qbhand_left_index_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="-0.524" upper="0.524" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.2"/>
  </joint>
  <link name="qbhand_left_index_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_index_proximal_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0 0.009 0"/>
    <parent link="qbhand_left_index_knuckle_link"/>
    <child link="qbhand_left_index_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_index_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_index_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_index_proximal_virtual_link"/>
    <child link="qbhand_left_index_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_index_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_index_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_index_middle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.017 0 0"/>
    <parent link="qbhand_left_index_proximal_link"/>
    <child link="qbhand_left_index_middle_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_index_middle_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_index_middle_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_index_middle_virtual_link"/>
    <child link="qbhand_left_index_middle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_index_middle_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_index_middle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/middle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_index_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_left_index_middle_link"/>
    <child link="qbhand_left_index_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_index_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_index_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_index_distal_virtual_link"/>
    <child link="qbhand_left_index_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_index_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_index_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_middle_knuckle_joint" type="fixed">
    <origin rpy="0 3.14 0" xyz="0 0 -0.014"/>
    <parent link="qbhand_left_palm_link"/>
    <child link="qbhand_left_middle_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="-0.524" upper="0.524" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.0"/>
  </joint>
  <link name="qbhand_left_middle_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_middle_proximal_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0 0.009 0"/>
    <parent link="qbhand_left_middle_knuckle_link"/>
    <child link="qbhand_left_middle_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_middle_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_middle_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_middle_proximal_virtual_link"/>
    <child link="qbhand_left_middle_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_middle_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_middle_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_middle_middle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.017 0 0"/>
    <parent link="qbhand_left_middle_proximal_link"/>
    <child link="qbhand_left_middle_middle_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_middle_middle_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_middle_middle_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_middle_middle_virtual_link"/>
    <child link="qbhand_left_middle_middle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_middle_middle_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_middle_middle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/middle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_middle_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_left_middle_middle_link"/>
    <child link="qbhand_left_middle_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_middle_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_middle_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_middle_distal_virtual_link"/>
    <child link="qbhand_left_middle_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_middle_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_middle_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_ring_knuckle_joint" type="fixed">
    <origin rpy="0 3.14 0" xyz="0.02 -0.007 -0.014"/>
    <parent link="qbhand_left_palm_link"/>
    <child link="qbhand_left_ring_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="-0.524" upper="0.524" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="-0.2"/>
  </joint>
  <link name="qbhand_left_ring_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_ring_proximal_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0 0.009 0"/>
    <parent link="qbhand_left_ring_knuckle_link"/>
    <child link="qbhand_left_ring_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_ring_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_ring_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_ring_proximal_virtual_link"/>
    <child link="qbhand_left_ring_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_ring_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_ring_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_ring_middle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.017 0 0"/>
    <parent link="qbhand_left_ring_proximal_link"/>
    <child link="qbhand_left_ring_middle_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_ring_middle_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_ring_middle_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_ring_middle_virtual_link"/>
    <child link="qbhand_left_ring_middle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_ring_middle_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_ring_middle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/middle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_ring_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_left_ring_middle_link"/>
    <child link="qbhand_left_ring_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_ring_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_ring_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_ring_distal_virtual_link"/>
    <child link="qbhand_left_ring_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_ring_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_ring_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_little_knuckle_joint" type="fixed">
    <origin rpy="0 3.14 0" xyz="0.04 -0.012 -0.014"/>
    <parent link="qbhand_left_palm_link"/>
    <child link="qbhand_left_little_knuckle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="-0.524" upper="0.524" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="-0.4"/>
  </joint>
  <link name="qbhand_left_little_knuckle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/knuckle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_little_proximal_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0 0.009 0"/>
    <parent link="qbhand_left_little_knuckle_link"/>
    <child link="qbhand_left_little_proximal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_little_proximal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_little_proximal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_little_proximal_virtual_link"/>
    <child link="qbhand_left_little_proximal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_little_proximal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_little_proximal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/proximal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_little_middle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_left_little_proximal_link"/>
    <child link="qbhand_left_little_middle_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_little_middle_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_little_middle_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_little_middle_virtual_link"/>
    <child link="qbhand_left_little_middle_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_little_middle_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_little_middle_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/middle"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="qbhand_left_little_distal_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.009 0 0"/>
    <parent link="qbhand_left_little_middle_link"/>
    <child link="qbhand_left_little_distal_virtual_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_synergy_joint" multiplier="0.785"/>
  </joint>
  <link name="qbhand_left_little_distal_virtual_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="qbhand_left_little_distal_virtual_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.013 0 0"/>
    <parent link="qbhand_left_little_distal_virtual_link"/>
    <child link="qbhand_left_little_distal_link"/>
    <axis xyz="0 0 -1"/>
    <dynamics damping="0.0" friction="0.0"/>
    <limit effort="100" lower="0.0" upper="0.785" velocity="100"/>
    <mimic joint="qbhand_left_little_distal_joint" multiplier="1.0"/>
  </joint>
  <link name="qbhand_left_little_distal_link">
    <inertial>
      <mass value="0.005"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="qbhand_left/distal"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>


  <joint name="j_neck_y" type="revolute">
    <origin xyz="-0.004458 0.0 0.680766" rpy="0.0 0.0 0.0"/>
    <parent link="pelvis"/>
    <child link="head"/>
    <axis xyz="0.0 1 0.0"/>
    <limit lower="-0.0872664626" upper="0.698132" effort="-1.0" velocity="-1.0"/>
  </joint>
  <link name="head">
    <inertial>
      <origin xyz="0.01272383 -0.00326913 0.07053205" rpy="0.0 0.0 0.0"/>
      <mass value="2.355"/>
      <inertia ixx="0.01719944" ixy="-8.079E-5" ixz="-0.0013284" iyy="0.0196904" iyz="2.3833E-4" izz="0.0077437"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963"/>
      <geometry>
        <mesh filename="meshes/head.obj" scale="1 1 1"/>
      </geometry>
    </visual>
  </link>
  <gazebo reference="head">
    <sensor name="realsense" type="camera">
      <camera>
        <image>
          <width>640</width>
          <height>480</height>
          <format>R8G8B8</format>
        </image>
        <horizontal_fov>1.487021</horizontal_fov>
        <clip>
          <near>0.2</near>
          <far>10</far>
        </clip>
      </camera>
      <update_rate>6</update_rate>
      <pose frame="">0.116669 0 0.17015 0 0.174533 0</pose>
    </sensor>
  </gazebo>

</robot>