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shadow_hand_jialiang.urdf
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<?xml version="1.0" ?>
<robot name="converted_robot">
<link name="palm">
<inertial>
<origin xyz="0.006 0.0 0.036" rpy="0.1678471312422165 0.04641103986884443 1.5420568046006367"/>
<mass value="0.3"/>
<inertia ixx="0.001" iyy="0.001" izz="0.001" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="palm">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/palm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_palm0">
<origin xyz="0.011 0 0.038" rpy="0 0 0"/>
<geometry>
<box size="0.064 0.0222 0.098"/>
</geometry>
</collision>
<collision name="C_palm1">
<origin xyz="-0.032 0 0.014" rpy="0 0 0"/>
<geometry>
<box size="0.022 0.0222 0.050"/>
</geometry>
</collision>
</link>
<link name="ffknuckle">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="2.0477583421747254 0.011366961427066169 0.007130225047531802"/>
<mass value="0.008"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="knuckle">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/knuckle.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint type="revolute" name="FFJ3">
<parent link="palm"/>
<child link="ffknuckle"/>
<origin xyz="0.033 0.0 0.095" rpy="0.0 0.0 0.0"/>
<axis xyz="0.0 1.0 0.0"/>
<limit lower="-0.349" upper="0.349" effort="100" velocity="100"/>
</joint>
<link name="ffproximal">
<inertial>
<origin xyz="0.0 0.0 0.023" rpy="0.0 0.01131529652408414 1.5707963267948966"/>
<mass value="0.014"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F3">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_ffproximal">
<origin xyz="0 0 0.0225" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.01" length="0.045"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="FFJ2">
<parent link="ffknuckle"/>
<child link="ffproximal"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="ffmiddle">
<inertial>
<origin xyz="0.0 0.0 0.011" rpy="0.0 0.0 1.5707963267948963"/>
<mass value="0.012"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F2">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_ffmiddle">
<origin xyz="0 0 0.0125" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.00805" length="0.025"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="FFJ1">
<parent link="ffproximal"/>
<child link="ffmiddle"/>
<origin xyz="0.0 0.0 0.045" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="ffdistal">
<inertial>
<origin xyz="0.0 0.0 0.015" rpy="0.0 0.008486512007798819 1.5707963267948966"/>
<mass value="0.01"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F1">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_ffdistal">
<origin xyz="0 0 0.012" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.00705" length="0.024"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="FFJ0">
<parent link="ffmiddle"/>
<child link="ffdistal"/>
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="mfknuckle">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="2.0477583421747254 0.011366961427066169 0.007130225047531802"/>
<mass value="0.008"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="knuckle">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/knuckle.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint type="revolute" name="MFJ3">
<parent link="palm"/>
<child link="mfknuckle"/>
<origin xyz="0.011 0.0 0.099" rpy="0.0 0.0 0.0"/>
<axis xyz="0.0 1.0 0.0"/>
<limit lower="-0.349" upper="0.349" effort="100" velocity="100"/>
</joint>
<link name="mfproximal">
<inertial>
<origin xyz="0.0 0.0 0.023" rpy="0.0 0.01131529652408414 1.5707963267948966"/>
<mass value="0.014"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F3">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_mfproximal">
<origin xyz="0 0 0.0225" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.01" length="0.045"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="MFJ2">
<parent link="mfknuckle"/>
<child link="mfproximal"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="mfmiddle">
<inertial>
<origin xyz="0.0 0.0 0.012" rpy="0.0 0.0 1.5707963267948963"/>
<mass value="0.012"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F2">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_mfmiddle">
<origin xyz="0 0 0.0125" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.00805" length="0.025"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="MFJ1">
<parent link="mfproximal"/>
<child link="mfmiddle"/>
<origin xyz="0.0 0.0 0.045" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="mfdistal">
<inertial>
<origin xyz="0.0 0.0 0.015" rpy="0.0 0.008486512007798819 1.5707963267948966"/>
<mass value="0.01"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F1">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_mfdistal">
<origin xyz="0 0 0.012" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.00705" length="0.024"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="MFJ0">
<parent link="mfmiddle"/>
<child link="mfdistal"/>
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="rfknuckle">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="2.0477583421747254 0.011366961427066169 0.007130225047531802"/>
<mass value="0.008"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="knuckle">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/knuckle.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint type="revolute" name="RFJ3">
<parent link="palm"/>
<child link="rfknuckle"/>
<origin xyz="-0.011 0.0 0.095" rpy="0.0 0.0 0.0"/>
<axis xyz="0.0 1.0 0.0"/>
<limit lower="-0.349" upper="0.349" effort="100" velocity="100"/>
</joint>
<link name="rfproximal">
<inertial>
<origin xyz="0.0 0.0 0.023" rpy="0.0 0.01131529652408414 1.5707963267948966"/>
<mass value="0.014"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F3">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_rfproximal">
<origin xyz="0 0 0.0225" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.01" length="0.045"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="RFJ2">
<parent link="rfknuckle"/>
<child link="rfproximal"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="rfmiddle">
<inertial>
<origin xyz="0.0 0.0 0.012" rpy="0.0 0.0 1.5707963267948963"/>
<mass value="0.012"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F2">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_rfmiddle">
<origin xyz="0 0 0.0125" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.00805" length="0.025"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="RFJ1">
<parent link="rfproximal"/>
<child link="rfmiddle"/>
<origin xyz="0.0 0.0 0.045" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="rfdistal">
<inertial>
<origin xyz="0.0 0.0 0.015" rpy="0.0 0.008486512007798819 1.5707963267948966"/>
<mass value="0.01"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F1">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_rfdistal">
<origin xyz="0 0 0.012" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.00705" length="0.024"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="RFJ0">
<parent link="rfmiddle"/>
<child link="rfdistal"/>
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="lfmetacarpal">
<inertial>
<origin xyz="-0.014 0.001 0.014" rpy="-0.2201936594056939 0.038757914465076704 1.5480065383653392"/>
<mass value="0.075"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="lfmetacarpal">
<origin xyz="0 0 -0.028" rpy="0 -0.610865 3.1415926"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/lfmetacarpal.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_lfmetacarpal">
<origin xyz="0.0195 0 0" rpy="0 -0.610865 3.1415926"/>
<geometry>
<box size="0.019 0.0222 0.05"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="LFJ4">
<parent link="palm"/>
<child link="lfmetacarpal"/>
<origin xyz="-0.017 0.0 0.044" rpy="0 -0.610865 3.1415926"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="0.785" effort="100" velocity="100"/>
</joint>
<link name="lfknuckle">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="2.0477583421747254 0.011366961427066169 0.007130225047531802"/>
<mass value="0.008"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="knuckle">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/knuckle.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint type="revolute" name="LFJ3">
<parent link="lfmetacarpal"/>
<child link="lfknuckle"/>
<origin xyz="0.039 0.0 0.026" rpy="0 -0.610865 -3.1415926"/>
<axis xyz="0.0 1.0 0.0"/>
<limit lower="-0.349" upper="0.349" effort="100" velocity="100"/>
</joint>
<link name="lfproximal">
<inertial>
<origin xyz="0.0 0.0 0.023" rpy="0.0 0.01131529652408414 1.5707963267948966"/>
<mass value="0.014"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F3">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_lfproximal">
<origin xyz="0 0 0.0225" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.01" length="0.045"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="LFJ2">
<parent link="lfknuckle"/>
<child link="lfproximal"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="lfmiddle">
<inertial>
<origin xyz="0.0 0.0 0.012" rpy="0.0 0.0 1.5707963267948963"/>
<mass value="0.012"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F2">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_lfmiddle">
<origin xyz="0 0 0.0125" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.00805" length="0.025"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="LFJ1">
<parent link="lfproximal"/>
<child link="lfmiddle"/>
<origin xyz="0.0 0.0 0.045" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="lfdistal">
<inertial>
<origin xyz="0.0 0.0 0.015" rpy="0.0 0.008486512007798819 1.5707963267948966"/>
<mass value="0.01"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="F1">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/F1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_lfdistal">
<origin xyz="0 0 0.012" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.00705" length="0.024"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="LFJ0">
<parent link="lfmiddle"/>
<child link="lfdistal"/>
<origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.571" effort="100" velocity="100"/>
</joint>
<link name="thbase">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="0.01"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
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</link>
<joint type="revolute" name="THJ4">
<parent link="palm"/>
<child link="thbase"/>
<origin xyz="0.034 -0.009 0.029" rpy="0.0 0.7850000000000001 0.0"/>
<axis xyz="0.0 0.0 -1.0"/>
<limit lower="-1.57" upper="1.57" effort="100" velocity="100"/>
</joint>
<link name="thproximal">
<inertial>
<origin xyz="0.0 0.0 0.017" rpy="0.000381693100196312 0.001962419550433303 0.3842054335057351"/>
<mass value="0.016"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="TH3_z">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/TH3_z.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_thproximal">
<origin xyz="0 0 0.019" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.013" length="0.038"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="THJ3">
<parent link="thbase"/>
<child link="thproximal"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="0.0" upper="1.57" effort="100" velocity="100"/>
</joint>
<link name="thhub">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="0.002"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<joint type="revolute" name="THJ2">
<parent link="thproximal"/>
<child link="thhub"/>
<origin xyz="0.0 0.0 0.038" rpy="0.0 0.0 0.0"/>
<axis xyz="1.0 0.0 0.0"/>
<limit lower="-0.209" upper="0.209" effort="100" velocity="100"/>
</joint>
<link name="thmiddle">
<inertial>
<origin xyz="0.0 0.0 0.016" rpy="-0.002042080886871354 -0.013993631107704463 0.006014270301537724"/>
<mass value="0.016"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="TH2_z">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/TH2_z.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_thmiddle">
<origin xyz="0 0 0.016" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.011" length="0.032"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="THJ1">
<parent link="thhub"/>
<child link="thmiddle"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<axis xyz="0.0 1.0 0.0"/>
<limit lower="-0.524" upper="0.524" effort="100" velocity="100"/>
</joint>
<link name="thdistal">
<inertial>
<origin xyz="0.0 0.0 0.016" rpy="-0.01050381536782631 -0.09396984019864618 0.01050381536782631"/>
<mass value="0.016"/>
<inertia ixx="1e-05" iyy="1e-05" izz="1e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual name="TH1_z">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="/home/user/DexGraspSyn/shadow_hand/shadow_hand/TH1_z.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
</visual>
<collision name="C_thdistal">
<origin xyz="0 0 0.013" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.00918" length="0.026"/>
</geometry>
</collision>
</link>
<joint type="revolute" name="THJ0">
<parent link="thmiddle"/>
<child link="thdistal"/>
<origin xyz="0.0 0.0 0.032" rpy="0.0 0.0 0.0"/>
<axis xyz="0.0 1.0 0.0"/>
<limit lower="-1.571" upper="0.0" effort="100" velocity="100"/>
</joint>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</robot>