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<!-- generated by bam_robot_descriptions (py backend), content 08da2c7df5948b9e -->
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        <mesh filename="thumb_dip.stl" />
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      <material name="thumb_dip_material" />
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      <origin xyz="0.043968715707239175 0.0579529529737092 -0.008628676449369476" rpy="1.94289029309401e-16 3.27515792264422e-15 1.112375852965736e-46" />
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        <mesh filename="thumb_dip.stl" />
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    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.038" />
      <inertia ixx="8.474e-06" ixy="2.41e-07" ixz="2.6e-08" iyy="3.841e-06" iyz="2.5e-08" izz="7.679e-06" />
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  <material name="thumb_fingertip_material">
    <color rgba="0.6039215686274509 0.14901960784313725 0.14901960784313725 1.0" />
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  <link name="thumb_fingertip">
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      <origin xyz="0.06255953846266739 0.07845968291139699 0.048992911807332215" rpy="4.379057701015637e-47 -3.33066907387547e-16 1.2042408677791935e-46" />
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        <mesh filename="thumb_fingertip.stl" />
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      <material name="thumb_fingertip_material" />
    </visual>
    <collision>
      <origin xyz="0.06255953846266739 0.07845968291139699 0.048992911807332215" rpy="4.379057701015637e-47 -3.33066907387547e-16 1.2042408677791935e-46" />
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        <mesh filename="thumb_fingertip.stl" />
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    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.049" />
      <inertia ixx="2.0372e-05" ixy="-4.89e-07" ixz="-3e-08" iyy="4.336e-06" iyz="-9.7e-08" izz="1.9845e-05" />
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    <origin xyz="-0.06939524965286253 -0.0012422438651005258 -0.021622403578460216" rpy="-8.238176646493942e-17 1.5707963267948957 0.0" />
    <parent link="palm_lower" />
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  <joint name="13" type="revolute">
    <origin xyz="-2.7755575615628914e-17 0.014300000000000005 -0.013000000000000012" rpy="1.570796326794896 -1.5707963267948963 0.0" />
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  <joint name="14" type="revolute">
    <origin xyz="0.0 0.014499999999999966 -0.017000000000000053" rpy="-1.5707963267948966 1.6050198443300131e-46 -1.9721522630516625e-31" />
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  <joint name="15" type="revolute">
    <origin xyz="-1.249000902703301e-16 0.046599999999999864 0.0001999999999999771" rpy="1.506395849149178e-44 5.423418723393526e-31 3.141592653589793" />
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    <child link="thumb_fingertip" />
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    <dynamics damping="0.0" friction="0.0" />
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</robot>
