<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 99a5bfb3628ff51b -->
<robot name="eve_r3">
  <link name="pelvis">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/torso.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.02071479 -0.00544353 0.4100644" rpy="0.0 0.0 0.0" />
      <mass value="10.12075049" />
      <inertia ixx="0.2085075" ixy="0.0008581" ixz="0.02176178" iyy="0.20882646" iyz="-0.00715583" izz="0.05515818" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-1.0472" upper="1.0472" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="abdomen">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/abdomen.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.055941 0.001616 0.129607" rpy="0.0 0.0 0.0" />
      <mass value="3.429553" />
      <inertia ixx="0.055816" ixy="0.000693" ixz="-0.014517" iyy="0.054022" iyz="-0.001917" izz="0.020076" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-0.523599" upper="0.523599" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="hip_x_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/hip.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.01325838 -0.00134592 -2.24e-06" rpy="0.0 0.0 0.0" />
      <mass value="2.94819561" />
      <inertia ixx="0.01418919" ixy="6.936e-05" ixz="-0.0007734" iyy="0.01504315" iyz="1.297e-05" izz="0.0170189" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-1.57" upper="0.174533" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="thigh">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/thigh.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.04235221 0.00017272 -0.21689828" rpy="0.0 0.0 0.0" />
      <mass value="10.80882706" />
      <inertia ixx="0.1632404" ixy="0.00026721" ixz="0.01548511" iyy="0.14491867" iyz="-0.00115905" izz="0.06656334" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="0.0" upper="2.583" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="shin">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/shin.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0177422 0.00453439 -0.17886128" rpy="0.0 0.0 0.0" />
      <mass value="11.06513851" />
      <inertia ixx="0.22300589" ixy="0.00039863" ixz="0.00421073" iyy="0.20307232" iyz="0.00715001" izz="0.05977916" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-1.57" upper="0.174533" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="ankle_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/ankle.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.017472 0.001483 -0.000681" rpy="0.0 0.0 0.0" />
      <mass value="2.742145" />
      <inertia ixx="0.010787" ixy="-9e-05" ixz="0.000271" iyy="0.009295" iyz="9e-06" izz="0.014432" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-0.523599" upper="0.523599" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/base.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.284 0.0 0.019" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.1524" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.005001 0.002979 -0.007684" rpy="0.0 0.0 0.0" />
      <mass value="12.487535" />
      <inertia ixx="0.330887" ixy="0.005202" ixz="-0.015354" iyy="0.233226" iyz="-3.7e-05" izz="0.532943" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_wheel">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 -1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/wheel.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.1524" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.45e-06 -0.00487572 -0.00014137" rpy="0.0 0.0 0.0" />
      <mass value="2.17850874" />
      <inertia ixx="0.0042794" ixy="-1.22e-06" ixz="-7.84e-06" iyy="0.0074513" iyz="-5.69e-06" izz="0.00423463" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_wheel">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/wheel.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.1524" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.45e-06 0.00487572 -0.00014137" rpy="0.0 0.0 0.0" />
      <mass value="2.17850874" />
      <inertia ixx="0.0042794" ixy="-1.22e-06" ixz="7.84e-06" iyy="0.0074513" iyz="5.69e-06" izz="0.00423463" />
    </inertial>
  </link>
  <joint name="j_r_shoulder_y" type="revolute">
    <origin xyz="0.01041 -0.20675 0.54735" rpy="-0.261799 0.0 0.261799" />
    <parent link="pelvis" />
    <child link="r_scapula" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1e+30" velocity="1e+30" lower="-2.4240878" upper="0.981049573" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_scapula">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 0.0" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/scapula.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00037947 0.06518341 0.02816495" rpy="0.0 0.0 0.0" />
      <mass value="3.00220101" />
      <inertia ixx="0.01020711" ixy="2.03e-06" ixz="-3.444e-05" iyy="0.01151732" iyz="0.00114803" izz="0.01329451" />
    </inertial>
  </link>
  <joint name="j_r_shoulder_x" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.261799 0.0 0.0" />
    <parent link="r_scapula" />
    <child link="r_shoulder" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1e+30" velocity="1e+30" lower="-2.0943951" upper="0.0872665" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_shoulder">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 0.0" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/shoulder.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="1.673e-05 -0.00019377 -0.01871047" rpy="0.0 0.0 0.0" />
      <mass value="0.62091759" />
      <inertia ixx="0.00097077" ixy="3.76e-06" ixz="1.39e-06" iyy="0.00133514" iyz="-5.96e-06" izz="0.00078248" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-0.5410525" upper="1.4660761" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_upper_arm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 3.14159" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/upper_arm.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00699737 0.00013778 -0.1740665" rpy="0.0 0.0 0.0" />
      <mass value="3.32084455" />
      <inertia ixx="0.01594152" ixy="8.55e-06" ixz="-0.00054922" iyy="0.01550579" iyz="3.617e-05" izz="0.00620232" />
    </inertial>
  </link>
  <joint name="j_r_elbow_y" type="revolute">
    <origin xyz="0.0 0.0 -0.3141" rpy="0.0 0.0 0.0" />
    <parent link="r_upper_arm" />
    <child link="r_elbow" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1e+30" velocity="1e+30" lower="-2.18166" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_elbow">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/elbow.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="6.557e-05 1.91e-06 -0.00890628" rpy="0.0 0.0 0.0" />
      <mass value="0.4622891" />
      <inertia ixx="0.0008234" ixy="-2e-08" ixz="1.04e-06" iyy="0.00036507" iyz="-3e-08" izz="0.00061458" />
    </inertial>
  </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 1.0" />
    <limit effort="1e+30" velocity="1e+30" lower="-0.7854" upper="1.5708" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_lower_arm">
    <visual>
      <origin xyz="0.0 0.0 -0.29285" rpy="0.0 3.14159 0.0" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/forearm.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="4.924e-05 -7.579e-05 -0.14272507" rpy="0.0 0.0 0.0" />
      <mass value="1.72645167" />
      <inertia ixx="0.00752527" ixy="2.55e-06" ixz="-3.2e-06" iyy="0.00785805" iyz="-8.5e-07" izz="0.00189704" />
    </inertial>
  </link>
  <joint name="j_r_wrist_y" type="revolute">
    <origin xyz="0.0 0.0 -0.29285" rpy="0.0 0.0 0.0" />
    <parent link="r_lower_arm" />
    <child link="r_wrist" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1e+30" velocity="1e+30" lower="-0.785398" upper="0.785398" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_wrist">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/wrist.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0001859 5.5e-05 -0.001294" rpy="0.0 0.0 0.0" />
      <mass value="0.3582051" />
      <inertia ixx="0.0002896" ixy="2.1e-06" ixz="-1.1e-06" iyy="0.0002335" iyz="-3e-07" izz="0.0003221" />
    </inertial>
  </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 0.0" />
    <limit effort="1e+30" velocity="1e+30" lower="-0.523599" upper="1.5708" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_palm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="-1.5707963 0.0 0.0" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/palm.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0038054 -0.002091 -0.03373019" rpy="0.0 0.0 0.0" />
      <mass value="0.22529206" />
      <inertia ixx="0.00024167" ixy="-5.6e-07" ixz="-3.083e-05" iyy="0.00040895" iyz="3.58e-06" izz="0.00027633" />
    </inertial>
  </link>
  <joint name="qbhand_right_base_fixed_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.06" rpy="3.14 0.0 3.14" />
    <parent link="r_palm" />
    <child link="qbhand_right_base_link" />
  </joint>
  <link name="qbhand_right_base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/flange_iso_04.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/flange_iso_04.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0015" />
      <mass value="0.15" />
      <inertia ixx="6e-05" ixy="0.0" ixz="0.0" iyy="6e-05" iyz="0.0" izz="9e-05" />
    </inertial>
  </link>
  <joint name="qbhand_right_palm_fixed_joint" type="fixed">
    <origin xyz="-0.0045 0.0145 0.144" rpy="1.57 0.0 0.0" />
    <parent link="qbhand_right_base_link" />
    <child link="qbhand_right_palm_link" />
  </joint>
  <link name="qbhand_right_palm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/palm_pinch_r.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/palm_pinch_r.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.02 0.05" />
      <mass value="0.36" />
      <inertia ixx="0.00045" ixy="0.0" ixz="0.0" iyy="0.0006" iyz="0.0" izz="0.00025" />
    </inertial>
  </link>
  <joint name="qbhand_right_synergy_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_palm_link" />
    <child link="qbhand_right_tendon_virtual_link" />
  </joint>
  <link name="qbhand_right_tendon_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="-0.0435 -0.0435 -0.002" rpy="-1.57 3.14 0.0" />
    <parent link="qbhand_right_palm_link" />
    <child link="qbhand_right_thumb_knuckle_link" />
  </joint>
  <link name="qbhand_right_thumb_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_thumb_r.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_thumb_r.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_thumb_proximal_joint" type="fixed">
    <origin xyz="0.0255 -0.004 -0.0025" rpy="-1.15 0.0 0.0" />
    <parent link="qbhand_right_thumb_knuckle_link" />
    <child link="qbhand_right_thumb_proximal_virtual_link" />
  </joint>
  <link name="qbhand_right_thumb_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_thumb_proximal_virtual_link" />
    <child link="qbhand_right_thumb_proximal_link" />
  </joint>
  <link name="qbhand_right_thumb_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_thumb_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_thumb_proximal_link" />
    <child link="qbhand_right_thumb_distal_virtual_link" />
  </joint>
  <link name="qbhand_right_thumb_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_thumb_distal_virtual_link" />
    <child link="qbhand_right_thumb_distal_link" />
  </joint>
  <link name="qbhand_right_thumb_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_index_knuckle_joint" type="fixed">
    <origin xyz="-0.02 -0.007 0.014" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_palm_link" />
    <child link="qbhand_right_index_knuckle_link" />
  </joint>
  <link name="qbhand_right_index_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_index_proximal_joint" type="fixed">
    <origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
    <parent link="qbhand_right_index_knuckle_link" />
    <child link="qbhand_right_index_proximal_virtual_link" />
  </joint>
  <link name="qbhand_right_index_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_index_proximal_virtual_link" />
    <child link="qbhand_right_index_proximal_link" />
  </joint>
  <link name="qbhand_right_index_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_index_middle_joint" type="fixed">
    <origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_index_proximal_link" />
    <child link="qbhand_right_index_middle_virtual_link" />
  </joint>
  <link name="qbhand_right_index_middle_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_index_middle_virtual_link" />
    <child link="qbhand_right_index_middle_link" />
  </joint>
  <link name="qbhand_right_index_middle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_index_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_index_middle_link" />
    <child link="qbhand_right_index_distal_virtual_link" />
  </joint>
  <link name="qbhand_right_index_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_index_distal_virtual_link" />
    <child link="qbhand_right_index_distal_link" />
  </joint>
  <link name="qbhand_right_index_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_middle_knuckle_joint" type="fixed">
    <origin xyz="0.0 0.0 0.014" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_palm_link" />
    <child link="qbhand_right_middle_knuckle_link" />
  </joint>
  <link name="qbhand_right_middle_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_middle_proximal_joint" type="fixed">
    <origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
    <parent link="qbhand_right_middle_knuckle_link" />
    <child link="qbhand_right_middle_proximal_virtual_link" />
  </joint>
  <link name="qbhand_right_middle_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_middle_proximal_virtual_link" />
    <child link="qbhand_right_middle_proximal_link" />
  </joint>
  <link name="qbhand_right_middle_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_middle_middle_joint" type="fixed">
    <origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_middle_proximal_link" />
    <child link="qbhand_right_middle_middle_virtual_link" />
  </joint>
  <link name="qbhand_right_middle_middle_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_middle_middle_virtual_link" />
    <child link="qbhand_right_middle_middle_link" />
  </joint>
  <link name="qbhand_right_middle_middle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_middle_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_middle_middle_link" />
    <child link="qbhand_right_middle_distal_virtual_link" />
  </joint>
  <link name="qbhand_right_middle_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_middle_distal_virtual_link" />
    <child link="qbhand_right_middle_distal_link" />
  </joint>
  <link name="qbhand_right_middle_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_ring_knuckle_joint" type="fixed">
    <origin xyz="0.02 -0.007 0.014" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_palm_link" />
    <child link="qbhand_right_ring_knuckle_link" />
  </joint>
  <link name="qbhand_right_ring_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_ring_proximal_joint" type="fixed">
    <origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
    <parent link="qbhand_right_ring_knuckle_link" />
    <child link="qbhand_right_ring_proximal_virtual_link" />
  </joint>
  <link name="qbhand_right_ring_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_ring_proximal_virtual_link" />
    <child link="qbhand_right_ring_proximal_link" />
  </joint>
  <link name="qbhand_right_ring_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_ring_middle_joint" type="fixed">
    <origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_ring_proximal_link" />
    <child link="qbhand_right_ring_middle_virtual_link" />
  </joint>
  <link name="qbhand_right_ring_middle_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_ring_middle_virtual_link" />
    <child link="qbhand_right_ring_middle_link" />
  </joint>
  <link name="qbhand_right_ring_middle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_ring_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_ring_middle_link" />
    <child link="qbhand_right_ring_distal_virtual_link" />
  </joint>
  <link name="qbhand_right_ring_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_ring_distal_virtual_link" />
    <child link="qbhand_right_ring_distal_link" />
  </joint>
  <link name="qbhand_right_ring_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_little_knuckle_joint" type="fixed">
    <origin xyz="0.04 -0.012 0.014" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_palm_link" />
    <child link="qbhand_right_little_knuckle_link" />
  </joint>
  <link name="qbhand_right_little_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_little_proximal_joint" type="fixed">
    <origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
    <parent link="qbhand_right_little_knuckle_link" />
    <child link="qbhand_right_little_proximal_virtual_link" />
  </joint>
  <link name="qbhand_right_little_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_little_proximal_virtual_link" />
    <child link="qbhand_right_little_proximal_link" />
  </joint>
  <link name="qbhand_right_little_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_little_middle_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_little_proximal_link" />
    <child link="qbhand_right_little_middle_virtual_link" />
  </joint>
  <link name="qbhand_right_little_middle_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_little_middle_virtual_link" />
    <child link="qbhand_right_little_middle_link" />
  </joint>
  <link name="qbhand_right_little_middle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_right_little_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_little_middle_link" />
    <child link="qbhand_right_little_distal_virtual_link" />
  </joint>
  <link name="qbhand_right_little_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_right_little_distal_virtual_link" />
    <child link="qbhand_right_little_distal_link" />
  </joint>
  <link name="qbhand_right_little_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="j_l_shoulder_y" type="revolute">
    <origin xyz="0.01041 0.20675 0.54735" rpy="0.261799 0.0 -0.261799" />
    <parent link="pelvis" />
    <child link="l_scapula" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1e+30" velocity="1e+30" lower="-2.4240878" upper="0.981049573" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_scapula">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 3.14159" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/scapula.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00051063 -0.06534731 0.02796782" rpy="0.0 0.0 0.0" />
      <mass value="3.00902868" />
      <inertia ixx="0.01028211" ixy="-4.893e-05" ixz="-7.063e-05" iyy="0.01156515" iyz="-0.00119105" izz="0.01333081" />
    </inertial>
  </link>
  <joint name="j_l_shoulder_x" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="-0.261799 0.0 0.0" />
    <parent link="l_scapula" />
    <child link="l_shoulder" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1e+30" velocity="1e+30" lower="-0.0872665" upper="2.0943951" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_shoulder">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 0.0" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/shoulder.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-1.673e-05 0.00019377 -0.01871047" rpy="0.0 0.0 0.0" />
      <mass value="0.62091759" />
      <inertia ixx="0.00097077" ixy="3.76e-06" ixz="-1.39e-06" iyy="0.00133514" iyz="5.96e-06" izz="0.00078248" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-1.4660761" upper="0.5410525" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_upper_arm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 3.14159" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/upper_arm.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00698778 0.00011145 -0.11499125" rpy="0.0 0.0 0.0" />
      <mass value="3.32260186" />
      <inertia ixx="0.01596325" ixy="8.08e-06" ixz="-0.00055061" iyy="0.01552407" iyz="4.445e-05" izz="0.00620843" />
    </inertial>
  </link>
  <joint name="j_l_elbow_y" type="revolute">
    <origin xyz="0.0 0.0 -0.3141" 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 effort="1e+30" velocity="1e+30" lower="-2.18166" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_elbow">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/elbow.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="6.509e-05 2.07e-06 -0.00890634" rpy="0.0 0.0 0.0" />
      <mass value="0.46228452" />
      <inertia ixx="0.0008234" ixy="-1e-08" ixz="1.04e-06" iyy="0.00036507" iyz="-3e-08" izz="0.00061458" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-1.5708" upper="0.7854" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_lower_arm">
    <visual>
      <origin xyz="0.0 0.0 -0.29285" rpy="0.0 3.14159 0.0" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/forearm.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="5.231e-05 -6.031e-05 -0.14272377" rpy="0.0 0.0 0.0" />
      <mass value="1.72646966" />
      <inertia ixx="0.00752577" ixy="3.09e-06" ixz="-3.88e-06" iyy="0.0078581" iyz="-4.25e-06" izz="0.00189705" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-0.785398" upper="0.785398" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_wrist">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/wrist.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.0001859 -5.5e-05 -0.001294" rpy="0.0 0.0 0.0" />
      <mass value="0.3582051" />
      <inertia ixx="0.0002896" ixy="2.1e-06" ixz="1.1e-06" iyy="0.0002335" iyz="3e-07" izz="0.0003221" />
    </inertial>
  </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 effort="1e+30" velocity="1e+30" lower="-1.5708" upper="0.523599" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_palm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="-1.5707963 0.0 3.14159" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/palm.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.0038054 0.002091 -0.03373019" rpy="0.0 0.0 0.0" />
      <mass value="0.22529206" />
      <inertia ixx="0.00024167" ixy="-5.6e-07" ixz="3.083e-05" iyy="0.00040895" iyz="-3.58e-06" izz="0.00027633" />
    </inertial>
  </link>
  <joint name="qbhand_left_base_fixed_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.06" rpy="3.14 0.0 0.0" />
    <parent link="l_palm" />
    <child link="qbhand_left_base_link" />
  </joint>
  <link name="qbhand_left_base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/flange_iso_04.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/flange_iso_04.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0015" />
      <mass value="0.15" />
      <inertia ixx="6e-05" ixy="0.0" ixz="0.0" iyy="6e-05" iyz="0.0" izz="9e-05" />
    </inertial>
  </link>
  <joint name="qbhand_left_palm_fixed_joint" type="fixed">
    <origin xyz="0.0045 0.0145 0.144" rpy="1.57 0.0 3.14" />
    <parent link="qbhand_left_base_link" />
    <child link="qbhand_left_palm_link" />
  </joint>
  <link name="qbhand_left_palm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/palm_pinch_l.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/palm_pinch_l.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.02 0.05" />
      <mass value="0.36" />
      <inertia ixx="0.00045" ixy="0.0" ixz="0.0" iyy="0.0006" iyz="0.0" izz="0.00025" />
    </inertial>
  </link>
  <joint name="qbhand_left_synergy_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_palm_link" />
    <child link="qbhand_left_tendon_virtual_link" />
  </joint>
  <link name="qbhand_left_tendon_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="-0.0435 -0.0435 -0.002" rpy="1.57 3.14 0.0" />
    <parent link="qbhand_left_palm_link" />
    <child link="qbhand_left_thumb_knuckle_link" />
  </joint>
  <link name="qbhand_left_thumb_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_thumb_l.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_thumb_l.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_thumb_proximal_joint" type="fixed">
    <origin xyz="0.0255 -0.004 0.0025" rpy="1.15 0.0 0.0" />
    <parent link="qbhand_left_thumb_knuckle_link" />
    <child link="qbhand_left_thumb_proximal_virtual_link" />
  </joint>
  <link name="qbhand_left_thumb_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_thumb_proximal_virtual_link" />
    <child link="qbhand_left_thumb_proximal_link" />
  </joint>
  <link name="qbhand_left_thumb_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_thumb_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_thumb_proximal_link" />
    <child link="qbhand_left_thumb_distal_virtual_link" />
  </joint>
  <link name="qbhand_left_thumb_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_thumb_distal_virtual_link" />
    <child link="qbhand_left_thumb_distal_link" />
  </joint>
  <link name="qbhand_left_thumb_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_index_knuckle_joint" type="fixed">
    <origin xyz="-0.02 -0.007 -0.014" rpy="0.0 3.14 0.0" />
    <parent link="qbhand_left_palm_link" />
    <child link="qbhand_left_index_knuckle_link" />
  </joint>
  <link name="qbhand_left_index_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_index_proximal_joint" type="fixed">
    <origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
    <parent link="qbhand_left_index_knuckle_link" />
    <child link="qbhand_left_index_proximal_virtual_link" />
  </joint>
  <link name="qbhand_left_index_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_index_proximal_virtual_link" />
    <child link="qbhand_left_index_proximal_link" />
  </joint>
  <link name="qbhand_left_index_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_index_middle_joint" type="fixed">
    <origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_index_proximal_link" />
    <child link="qbhand_left_index_middle_virtual_link" />
  </joint>
  <link name="qbhand_left_index_middle_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_index_middle_virtual_link" />
    <child link="qbhand_left_index_middle_link" />
  </joint>
  <link name="qbhand_left_index_middle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_index_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_index_middle_link" />
    <child link="qbhand_left_index_distal_virtual_link" />
  </joint>
  <link name="qbhand_left_index_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_index_distal_virtual_link" />
    <child link="qbhand_left_index_distal_link" />
  </joint>
  <link name="qbhand_left_index_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_middle_knuckle_joint" type="fixed">
    <origin xyz="0.0 0.0 -0.014" rpy="0.0 3.14 0.0" />
    <parent link="qbhand_left_palm_link" />
    <child link="qbhand_left_middle_knuckle_link" />
  </joint>
  <link name="qbhand_left_middle_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_middle_proximal_joint" type="fixed">
    <origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
    <parent link="qbhand_left_middle_knuckle_link" />
    <child link="qbhand_left_middle_proximal_virtual_link" />
  </joint>
  <link name="qbhand_left_middle_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_middle_proximal_virtual_link" />
    <child link="qbhand_left_middle_proximal_link" />
  </joint>
  <link name="qbhand_left_middle_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_middle_middle_joint" type="fixed">
    <origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_middle_proximal_link" />
    <child link="qbhand_left_middle_middle_virtual_link" />
  </joint>
  <link name="qbhand_left_middle_middle_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_middle_middle_virtual_link" />
    <child link="qbhand_left_middle_middle_link" />
  </joint>
  <link name="qbhand_left_middle_middle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_middle_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_middle_middle_link" />
    <child link="qbhand_left_middle_distal_virtual_link" />
  </joint>
  <link name="qbhand_left_middle_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_middle_distal_virtual_link" />
    <child link="qbhand_left_middle_distal_link" />
  </joint>
  <link name="qbhand_left_middle_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_ring_knuckle_joint" type="fixed">
    <origin xyz="0.02 -0.007 -0.014" rpy="0.0 3.14 0.0" />
    <parent link="qbhand_left_palm_link" />
    <child link="qbhand_left_ring_knuckle_link" />
  </joint>
  <link name="qbhand_left_ring_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_ring_proximal_joint" type="fixed">
    <origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
    <parent link="qbhand_left_ring_knuckle_link" />
    <child link="qbhand_left_ring_proximal_virtual_link" />
  </joint>
  <link name="qbhand_left_ring_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_ring_proximal_virtual_link" />
    <child link="qbhand_left_ring_proximal_link" />
  </joint>
  <link name="qbhand_left_ring_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_ring_middle_joint" type="fixed">
    <origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_ring_proximal_link" />
    <child link="qbhand_left_ring_middle_virtual_link" />
  </joint>
  <link name="qbhand_left_ring_middle_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_ring_middle_virtual_link" />
    <child link="qbhand_left_ring_middle_link" />
  </joint>
  <link name="qbhand_left_ring_middle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_ring_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_ring_middle_link" />
    <child link="qbhand_left_ring_distal_virtual_link" />
  </joint>
  <link name="qbhand_left_ring_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_ring_distal_virtual_link" />
    <child link="qbhand_left_ring_distal_link" />
  </joint>
  <link name="qbhand_left_ring_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_little_knuckle_joint" type="fixed">
    <origin xyz="0.04 -0.012 -0.014" rpy="0.0 3.14 0.0" />
    <parent link="qbhand_left_palm_link" />
    <child link="qbhand_left_little_knuckle_link" />
  </joint>
  <link name="qbhand_left_little_knuckle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_little_proximal_joint" type="fixed">
    <origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
    <parent link="qbhand_left_little_knuckle_link" />
    <child link="qbhand_left_little_proximal_virtual_link" />
  </joint>
  <link name="qbhand_left_little_proximal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_little_proximal_virtual_link" />
    <child link="qbhand_left_little_proximal_link" />
  </joint>
  <link name="qbhand_left_little_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_little_middle_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_little_proximal_link" />
    <child link="qbhand_left_little_middle_virtual_link" />
  </joint>
  <link name="qbhand_left_little_middle_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_little_middle_virtual_link" />
    <child link="qbhand_left_little_middle_link" />
  </joint>
  <link name="qbhand_left_little_middle_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="qbhand_left_little_distal_joint" type="fixed">
    <origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_little_middle_link" />
    <child link="qbhand_left_little_distal_virtual_link" />
  </joint>
  <link name="qbhand_left_little_distal_virtual_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 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 xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="qbhand_left_little_distal_virtual_link" />
    <child link="qbhand_left_little_distal_link" />
  </joint>
  <link name="qbhand_left_little_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.005" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="j_neck_y" type="revolute">
    <origin xyz="0.00646 0.00085 0.67201" rpy="0.0 0.0 0.0" />
    <parent link="pelvis" />
    <child link="head" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1e+30" velocity="1e+30" lower="-0.335" upper="0.506" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="head">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
      <geometry>
        <mesh filename="package://eve_r3_description/meshes/head.obj" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.02485953 -0.00373226 0.11157957" rpy="0.0 0.0 0.0" />
      <mass value="1.84975554" />
      <inertia ixx="0.01343625" ixy="-0.00015664" ixz="-0.00146014" iyy="0.01517256" iyz="0.00017375" izz="0.00763704" />
    </inertial>
  </link>
</robot>
