<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content e58c08b626897bae -->
<robot name="ability_hand">
  <link name="base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/wristmesh.STL" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00065452 -0.00598838 0.05077265" rpy="0.0 0.0 0.0" />
      <mass value="0.37511" />
      <inertia ixx="0.000376723021" ixy="2.33895423e-06" ixz="-6.0432515e-06" iyy="0.000467706269" iyz="5.04572725e-05" izz="0.000177650714" />
    </inertial>
  </link>
  <joint name="wrist2thumb" type="fixed">
    <origin xyz="0.0240476665 0.00378124745 0.03232964923" rpy="3.14148426 0.08848813 3.14036612" />
    <parent link="base" />
    <child link="thumb_base" />
  </joint>
  <link name="thumb_base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/FB_palm_ref.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/palm_hull.STL" />
      </geometry>
    </collision>
  </link>
  <link name="index_L1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F1.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0384727 0.0032577 0.0" rpy="0.0 0.0 0.0844739" />
      <geometry>
        <mesh filename="models/idx-F1-hull.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0177549969 -0.000213867669 -2.02851433e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.00636" />
      <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
    </inertial>
  </link>
  <link name="index_L2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F2-Lg.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0091241 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F2-Lg-hull.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01527234 -0.0100039197 -3.11063902e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
    </inertial>
  </link>
  <joint name="index_q1" type="revolute">
    <origin xyz="0.028 -0.009 0.096" rpy="1.47 -1.317 -1.352" />
    <parent link="base" />
    <child link="index_L1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.0" velocity="8.0677777442" lower="0.0" upper="2.0943951" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <joint name="index_q2" type="revolute">
    <origin xyz="0.038472723 0.003257695 0.0" rpy="0.0 0.0 0.084474" />
    <parent link="index_L1" />
    <child link="index_L2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.0" velocity="8.0677777442" lower="0.0" upper="2.6586" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <link name="index_anchor" />
  <joint name="idx_anchor" type="fixed">
    <origin xyz="0.0315541 -0.01044 0.00014" rpy="0.0 0.0 0.0" />
    <parent link="index_L2" />
    <child link="index_anchor" />
  </joint>
  <link name="fsr0" />
  <joint name="fsr0" type="fixed">
    <origin xyz="0.02936 -0.01697 -0.00435" rpy="3.14 0.0 -0.1848" />
    <parent link="index_L2" />
    <child link="fsr0" />
  </joint>
  <link name="fsr1" />
  <joint name="fsr1" type="fixed">
    <origin xyz="0.02961 -0.01394 0.0" rpy="-1.5708 0.0 -0.2316" />
    <parent link="index_L2" />
    <child link="fsr1" />
  </joint>
  <link name="fsr2" />
  <joint name="fsr2" type="fixed">
    <origin xyz="0.02936 -0.01697 0.00435" rpy="0.0 0.0 -0.1848036056311012" />
    <parent link="index_L2" />
    <child link="fsr2" />
  </joint>
  <link name="fsr3" />
  <joint name="fsr3" type="fixed">
    <origin xyz="0.01472 -0.011 -0.00435" rpy="3.14159 0.0 -0.57092" />
    <parent link="index_L2" />
    <child link="fsr3" />
  </joint>
  <link name="fsr4" />
  <joint name="fsr4" type="fixed">
    <origin xyz="0.01472 -0.01099 0.00435" rpy="0.0 0.0 -0.57199" />
    <parent link="index_L2" />
    <child link="fsr4" />
  </joint>
  <link name="fsr5" />
  <joint name="fsr5" type="fixed">
    <origin xyz="0.03704 -0.01785 0.0" rpy="-2.66907 -1.5708 0.0" />
    <parent link="index_L2" />
    <child link="fsr5" />
  </joint>
  <link name="middle_L1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F1.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0384727 0.0032577 0.0" rpy="0.0 0.0 0.0844739" />
      <geometry>
        <mesh filename="models/idx-F1-hull.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0177549969 -0.000213867669 -2.02851433e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.00636" />
      <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
    </inertial>
  </link>
  <link name="middle_L2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F2-Lg.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0091241 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F2-Lg-hull.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01527234 -0.0100039197 -3.11063902e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
    </inertial>
  </link>
  <joint name="middle_q1" type="revolute">
    <origin xyz="0.008 -0.012 0.099" rpy="1.629 -1.322 -1.583" />
    <parent link="base" />
    <child link="middle_L1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.0" velocity="8.0677777442" lower="0.0" upper="2.0943951" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <joint name="middle_q2" type="revolute">
    <origin xyz="0.038472723 0.003257695 0.0" rpy="0.0 0.0 0.084474" />
    <parent link="middle_L1" />
    <child link="middle_L2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.0" velocity="8.0677777442" lower="0.0" upper="2.6586" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <link name="middle_anchor" />
  <joint name="mid_anchor" type="fixed">
    <origin xyz="0.0315541 -0.01044 0.00014" rpy="0.0 0.0 0.0" />
    <parent link="middle_L2" />
    <child link="middle_anchor" />
  </joint>
  <link name="fsr6" />
  <joint name="fsr6" type="fixed">
    <origin xyz="0.02936 -0.01697 -0.00435" rpy="3.14 0.0 -0.1848" />
    <parent link="middle_L2" />
    <child link="fsr6" />
  </joint>
  <link name="fsr7" />
  <joint name="fsr7" type="fixed">
    <origin xyz="0.02961 -0.01394 0.0" rpy="-1.5708 0.0 -0.2316" />
    <parent link="middle_L2" />
    <child link="fsr7" />
  </joint>
  <link name="fsr8" />
  <joint name="fsr8" type="fixed">
    <origin xyz="0.02936 -0.01697 0.00435" rpy="0.0 0.0 -0.1848036056311012" />
    <parent link="middle_L2" />
    <child link="fsr8" />
  </joint>
  <link name="fsr9" />
  <joint name="fsr9" type="fixed">
    <origin xyz="0.01472 -0.011 -0.00435" rpy="3.14159 0.0 -0.57092" />
    <parent link="middle_L2" />
    <child link="fsr9" />
  </joint>
  <link name="fsr10" />
  <joint name="fsr10" type="fixed">
    <origin xyz="0.01472 -0.01099 0.00435" rpy="0.0 0.0 -0.57199" />
    <parent link="middle_L2" />
    <child link="fsr10" />
  </joint>
  <link name="fsr11" />
  <joint name="fsr11" type="fixed">
    <origin xyz="0.03704 -0.01785 0.0" rpy="-2.66907 -1.5708 0.0" />
    <parent link="middle_L2" />
    <child link="fsr11" />
  </joint>
  <link name="ring_L1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F1.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0384727 0.0032577 0.0" rpy="0.0 0.0 0.0844739" />
      <geometry>
        <mesh filename="models/idx-F1-hull.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0177549969 -0.000213867669 -2.02851433e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.00636" />
      <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
    </inertial>
  </link>
  <link name="ring_L2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F2-Lg.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0091241 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F2-Lg-hull.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01527234 -0.0100039197 -3.11063902e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
    </inertial>
  </link>
  <joint name="ring_q1" type="revolute">
    <origin xyz="-0.012 -0.01 0.097" rpy="1.78 -1.315 -1.811" />
    <parent link="base" />
    <child link="ring_L1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.0" velocity="8.0677777442" lower="0.0" upper="2.0943951" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <joint name="ring_q2" type="revolute">
    <origin xyz="0.038472723 0.003257695 0.0" rpy="0.0 0.0 0.084474" />
    <parent link="ring_L1" />
    <child link="ring_L2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.0" velocity="8.0677777442" lower="0.0" upper="2.6586" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <link name="ring_anchor" />
  <joint name="rng_anchor" type="fixed">
    <origin xyz="0.0315541 -0.01044 0.00014" rpy="0.0 0.0 0.0" />
    <parent link="ring_L2" />
    <child link="ring_anchor" />
  </joint>
  <link name="fsr12" />
  <joint name="fsr12" type="fixed">
    <origin xyz="0.02936 -0.01697 -0.00435" rpy="3.14 0.0 -0.1848" />
    <parent link="ring_L2" />
    <child link="fsr12" />
  </joint>
  <link name="fsr13" />
  <joint name="fsr13" type="fixed">
    <origin xyz="0.02961 -0.01394 0.0" rpy="-1.5708 0.0 -0.2316" />
    <parent link="ring_L2" />
    <child link="fsr13" />
  </joint>
  <link name="fsr14" />
  <joint name="fsr14" type="fixed">
    <origin xyz="0.02936 -0.01697 0.00435" rpy="0.0 0.0 -0.1848036056311012" />
    <parent link="ring_L2" />
    <child link="fsr14" />
  </joint>
  <link name="fsr15" />
  <joint name="fsr15" type="fixed">
    <origin xyz="0.01472 -0.011 -0.00435" rpy="3.14159 0.0 -0.57092" />
    <parent link="ring_L2" />
    <child link="fsr15" />
  </joint>
  <link name="fsr16" />
  <joint name="fsr16" type="fixed">
    <origin xyz="0.01472 -0.01099 0.00435" rpy="0.0 0.0 -0.57199" />
    <parent link="ring_L2" />
    <child link="fsr16" />
  </joint>
  <link name="fsr17" />
  <joint name="fsr17" type="fixed">
    <origin xyz="0.03704 -0.01785 0.0" rpy="-2.66907 -1.5708 0.0" />
    <parent link="ring_L2" />
    <child link="fsr17" />
  </joint>
  <link name="pinky_L1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F1.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0384727 0.0032577 0.0" rpy="0.0 0.0 0.0844739" />
      <geometry>
        <mesh filename="models/idx-F1-hull.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0177549969 -0.000213867669 -2.02851433e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.00636" />
      <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
    </inertial>
  </link>
  <link name="pinky_L2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F2-Lg.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0091241 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/idx-F2-hull.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0133249215 -0.00815894775 -4.07689501e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="3.07970159e-07" ixy="2.8092101e-07" ixz="-2.72117073e-09" iyy="7.40775495e-07" iyz="1.08144438e-09" izz="8.93728844e-07" />
    </inertial>
  </link>
  <joint name="pinky_q1" type="revolute">
    <origin xyz="-0.031 -0.007 0.091" rpy="1.731 -1.315 -1.828" />
    <parent link="base" />
    <child link="pinky_L1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.0" velocity="8.0677777442" lower="0.0" upper="2.0943951" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <joint name="pinky_q2" type="revolute">
    <origin xyz="0.038472723 0.003257695 0.0" rpy="0.0 0.0 0.084474" />
    <parent link="pinky_L1" />
    <child link="pinky_L2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.0" velocity="8.0677777442" lower="0.0" upper="2.6586" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <link name="pinky_anchor" />
  <joint name="pnky_anchor" type="fixed">
    <origin xyz="0.0315541 -0.01044 0.00014" rpy="0.0 0.0 0.0" />
    <parent link="pinky_L2" />
    <child link="pinky_anchor" />
  </joint>
  <link name="fsr18" />
  <joint name="fsr18" type="fixed">
    <origin xyz="0.02556 -0.01391 -0.00435" rpy="3.14 0.0 -0.1848" />
    <parent link="pinky_L2" />
    <child link="fsr18" />
  </joint>
  <link name="fsr19" />
  <joint name="fsr19" type="fixed">
    <origin xyz="0.02517 -0.0111 -0.0" rpy="-1.5708 0.0 -0.2316" />
    <parent link="pinky_L2" />
    <child link="fsr19" />
  </joint>
  <link name="fsr20" />
  <joint name="fsr20" type="fixed">
    <origin xyz="0.02556 -0.01391 0.00435" rpy="0.0 0.0 -0.1848036056311012" />
    <parent link="pinky_L2" />
    <child link="fsr20" />
  </joint>
  <link name="fsr21" />
  <joint name="fsr21" type="fixed">
    <origin xyz="0.0131 -0.00943 -0.00435" rpy="3.14159 0.0 -0.57092" />
    <parent link="pinky_L2" />
    <child link="fsr21" />
  </joint>
  <link name="fsr22" />
  <joint name="fsr22" type="fixed">
    <origin xyz="0.0131 -0.00943 0.00435" rpy="0.0 0.0 -0.57199" />
    <parent link="pinky_L2" />
    <child link="fsr22" />
  </joint>
  <link name="fsr23" />
  <joint name="fsr23" type="fixed">
    <origin xyz="0.03142 -0.01438 0.0" rpy="-2.66907 -1.5708 0.0" />
    <parent link="pinky_L2" />
    <child link="fsr23" />
  </joint>
  <link name="thumb_L1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/thumb-F1.STL" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.01433502 -0.00188501 -0.00504062" rpy="0.0 0.0 0.0" />
      <mass value="0.002" />
      <inertia ixx="1.18180125e-07" ixy="2.01333778e-08" ixz="6.82164634e-08" iyy="2.49626759e-07" iyz="-8.51306376e-09" izz="2.02510886e-07" />
    </inertial>
  </link>
  <link name="thumb_L2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="models/thumb-F2-left.STL" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.02776245 0.00562171 -0.00410855" rpy="0.0 0.0 0.0" />
      <mass value="0.06" />
      <inertia ixx="8.10858595e-06" ixy="-7.50865361e-06" ixz="-6.23775212e-08" iyy="2.16060962e-05" iyz="-1.00035818e-07" izz="2.58546356e-05" />
    </inertial>
  </link>
  <joint name="thumb_q1" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.330437" />
    <parent link="thumb_base" />
    <child link="thumb_L1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1.2" velocity="40.338888721" lower="-2.0943951" upper="0.0" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <joint name="thumb_q2" type="revolute">
    <origin xyz="0.0278283501 0.0 -0.0147507" rpy="4.450589592585541 0.0 0.0" />
    <parent link="thumb_L1" />
    <child link="thumb_L2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.0" velocity="8.0677777442" lower="0.0" upper="2.0943951" />
    <dynamics damping="0.001" friction="0.001" />
  </joint>
  <link name="thumb_anchor" />
  <joint name="thmb_anchor" type="fixed">
    <origin xyz="0.0520012259 0.0280086971 -0.000884835778" rpy="0.0 0.0 0.0" />
    <parent link="thumb_L2" />
    <child link="thumb_anchor" />
  </joint>
  <link name="fsr24" />
  <joint name="fsr24" type="fixed">
    <origin xyz="0.04747 0.01988 -0.00874" rpy="-2.29074 1e-05 0.41769" />
    <parent link="thumb_L2" />
    <child link="fsr24" />
  </joint>
  <link name="fsr25" />
  <joint name="fsr25" type="fixed">
    <origin xyz="0.04721 0.02124 -0.00106" rpy="-1.30899 1e-05 0.41769" />
    <parent link="thumb_L2" />
    <child link="fsr25" />
  </joint>
  <link name="fsr26" />
  <joint name="fsr26" type="fixed">
    <origin xyz="0.04896 0.01654 0.00491" rpy="-0.32726 1e-05 0.41769" />
    <parent link="thumb_L2" />
    <child link="fsr26" />
  </joint>
  <link name="fsr27" />
  <joint name="fsr27" type="fixed">
    <origin xyz="0.03739 0.01536 -0.00879" rpy="-2.29074 1e-05 0.41769" />
    <parent link="thumb_L2" />
    <child link="fsr27" />
  </joint>
  <link name="fsr28" />
  <joint name="fsr28" type="fixed">
    <origin xyz="0.03888 0.012 0.00494" rpy="-0.32726 1e-05 0.41769" />
    <parent link="thumb_L2" />
    <child link="fsr28" />
  </joint>
  <link name="fsr29" />
  <joint name="fsr29" type="fixed">
    <origin xyz="0.05591 0.0216 -0.00192" rpy="0.0 0.0 0.0" />
    <parent link="thumb_L2" />
    <child link="fsr29" />
  </joint>
</robot>
