<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 2337334e5e1c0a39 -->
<robot name="bhand_model">
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/base_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/base_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.53444878605399e-05 -0.00277693660903533 0.0352882290973172" rpy="0.0 0.0 0.0" />
      <mass value="0.377966381303299" />
      <inertia ixx="0.000427326373018601" ixy="2.6443337984506e-07" ixz="-2.02908063714989e-07" iyy="0.000361316175967098" iyz="-3.0792687327603e-05" izz="0.000376798128588446" />
    </inertial>
  </link>
  <link name="finger_1_prox_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_1_prox_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_1_prox_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0288648917008988 9.98379746692153e-05 0.0171253477569802" rpy="0.0 0.0 0.0" />
      <mass value="56143.0626955765" />
      <inertia ixx="10.4484040652085" ixy="-0.117861448219975" ixz="-5.31613760585343" iyy="33.9552353012776" iyz="0.0780041192837706" izz="29.3669090518615" />
    </inertial>
  </link>
  <joint name="finger_1_prox_joint" type="revolute">
    <origin xyz="0.025 0.0 0.0415" rpy="0.0 2.7051e-17 -1.5708" />
    <parent link="base_link" />
    <child link="finger_1_prox_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" lower="-3.141" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="finger_1_med_liink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_1_med_liink.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_1_med_liink.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.030918176135544 0.0019693024932544 0.000743369842666108" rpy="0.0 0.0 0.0" />
      <mass value="31321.1214212939" />
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    </inertial>
  </link>
  <joint name="finger_1_med_joint" type="revolute">
    <origin xyz="-0.05 0.0 0.0339" rpy="1.5708 -8.8281e-17 0.0" />
    <parent link="finger_1_prox_link" />
    <child link="finger_1_med_liink" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" lower="-2.44" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="finger_1_dist_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_1_dist_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_1_dist_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.018331495851456 0.017563370050582 0.000497127783315291" rpy="0.0 0.0 0.0" />
      <mass value="19342.3312257343" />
      <inertia ixx="3.67466110522623" ixy="-2.57800680786605" ixz="-0.0345727635031181" iyy="4.08727012680705" iyz="0.0329223427372985" izz="5.99395386650428" />
    </inertial>
  </link>
  <joint name="finger_1_dist_joint" type="revolute">
    <origin xyz="-0.069936 0.003 0.0" rpy="1.6787e-18 -3.6382e-15 -6.1073e-33" />
    <parent link="finger_1_med_liink" />
    <child link="finger_1_dist_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" lower="-0.785" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="finger_2_prox_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_2_prox_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_2_prox_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0288648917008987 9.98379746692118e-05 0.0171253477569802" rpy="0.0 0.0 0.0" />
      <mass value="56143.0626955765" />
      <inertia ixx="10.4484040652085" ixy="-0.117861448219975" ixz="-5.31613760585343" iyy="33.9552353012776" iyz="0.0780041192837701" izz="29.3669090518615" />
    </inertial>
  </link>
  <joint name="finger_2_prox_joint" type="revolute">
    <origin xyz="-0.025 0.0 0.0415" rpy="0.0 2.7051e-17 -1.5708" />
    <parent link="base_link" />
    <child link="finger_2_prox_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" lower="0.0" upper="3.141" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="finger_2_med_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_2_med_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_2_med_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0309061378225848 0.00214997948654991 0.000743369814045599" rpy="0.0 0.0 0.0" />
      <mass value="31321.1215499126" />
      <inertia ixx="2.19551825824831" ixy="-0.933117181988174" ixz="0.0135333166873642" iyy="17.3492542935561" iyz="-0.00120585854514789" izz="17.7656644132238" />
    </inertial>
  </link>
  <joint name="finger_2_med_joint" type="revolute">
    <origin xyz="-0.05 0.0 0.0339" rpy="1.5708 -8.8281e-17 0.0" />
    <parent link="finger_2_prox_link" />
    <child link="finger_2_med_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" lower="-2.44" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="finger_2_dist_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_2_dist_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_2_dist_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0181940669984822 0.017705695005231 0.000497127783261171" rpy="0.0 0.0 0.0" />
      <mass value="19342.3313295693" />
      <inertia ixx="3.71486604025429" ixy="-2.58090906930852" ixz="-0.0343151446338957" iyy="4.04706522522361" iyz="0.0331907761165059" izz="5.99395390717116" />
    </inertial>
  </link>
  <joint name="finger_2_dist_joint" type="revolute">
    <origin xyz="-0.069917 0.0034087 0.0" rpy="-3.1382e-17 -2.3229e-16 0.0" />
    <parent link="finger_2_med_link" />
    <child link="finger_2_dist_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" lower="-0.785" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="finger_3_med_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_3_med_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_3_med_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0309181761355441 0.00196930249325443 0.000743369842666415" rpy="0.0 0.0 0.0" />
      <mass value="31321.121421294" />
      <inertia ixx="2.18512832127284" ixy="-0.844484268309696" ixz="0.0135401272400822" iyy="17.3596441998537" iyz="-0.0011266921675151" izz="17.7656644395659" />
    </inertial>
  </link>
  <joint name="finger_3_med_joint" type="revolute">
    <origin xyz="0.0 -0.05 0.0754" rpy="1.5708 6.123e-17 1.5708" />
    <parent link="base_link" />
    <child link="finger_3_med_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" lower="-2.44" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="finger_3_dist_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_3_dist_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://bhand_model/meshes/finger_3_dist_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0183314958518909 0.0175633700501297 0.000497127783323787" rpy="0.0 0.0 0.0" />
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    </inertial>
  </link>
  <joint name="finger_3_dist_joint" type="revolute">
    <origin xyz="-0.069936 0.003 0.0" rpy="6.0427e-17 -6.7283e-18 -4.0657e-34" />
    <parent link="finger_3_med_link" />
    <child link="finger_3_dist_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" lower="-0.785" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>
