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allegro_hand_r.urdf
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<?xml version="1.0"?>
<robot name="allegro_hand">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_g_r.stl" scale ="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_g_r.stl" scale ="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<mass value="4.1685782e-01"/>
<inertia ixx="1.3752240e-03" ixy="1.1841496e-05" ixz="-2.7306101e-04"
iyx= "1.1841496e-05" iyy="1.2103623e-03" iyz="-2.3172379e-06"
izx = "-2.7306101e-04" izy = "-2.3172379e-06" izz="6.2229538e-04"/>
</inertial>
</link>
<!--Middle FInger-->
<link name="mf1">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f1.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f1.stl" scale ="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<mass value="1.1350110e-02"/>
<inertia ixx="2.7007029e-06" ixy=" 3.1772169e-09" ixz="-9.9625685e-09"
iyx= " 3.1772169e-09" iyy=" 2.0578543e-06" iyz="4.1823243e-09"
izx = "-9.9625685e-09" izy = " 4.1823243e-09" izz="1.2713693e-06"/>
</inertial>
</link>
<joint name="jmf1" type="revolute">
<parent link="base_link"/>
<child link="mf1"/>
<axis xyz="0 0 1"/>
<origin xyz ="0 0 0.0166 "/>
<limit lower="-0.57" upper="0.57" effort="10" velocity="3"/>
</joint>
<link name="mf2">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f2.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy = "-1.5708 -1.5708 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f2.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 -1.5708 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="7.1189096e-02"/>
<inertia ixx="7.0483360e-06" ixy=" 2.7238745e-06" ixz="-5.7605847e-07"
iyx= " 2.7238745e-06" iyy=" 7.7935727e-05" iyz="2.1115155e-08"
izx = " -5.7605847e-07" izy = "2.1115155e-08" izz="7.6656552e-05"/>
</inertial>
</link>
<joint name="jmf2" type="revolute">
<parent link="mf1"/>
<child link="mf2"/>
<origin xyz= "0 0 0"/>
<limit lower="-0.296" upper=" 1.71" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="mf3">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f3.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="blue"/>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f3.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="3.7588606e-02"/>
<inertia ixx="3.8700419e-06" ixy=" 9.4859852e-07" ixz="-3.4727103e-07"
iyx= " 9.4859852e-07" iyy=" 2.9392367e-05" iyz=" 4.1019588e-08"
izx = " -3.4727103e-07" izy = " 4.1019588e-08" izz="2.8178175e-05"/>
</inertial>
</link>
<joint name="jmf3" type="revolute">
<parent link="mf2"/>
<child link="mf3"/>
<origin xyz= "0 0 0.054" rpy = "0 -1.5708 0"/>
<limit lower="-0.274" upper=" 1.809" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="mf4">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f4.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f4.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="9.4301124e-03"/>
<inertia ixx=" 1.2117405e-06" ixy="9.9624823e-09" ixz="6.9119137e-10"
iyx= "9.9624823e-09" iyy="2.1794983e-06" iyz="3.1772815e-09"
izx = "6.9119137e-10" izy = "3.1772815e-09" izz="1.5590472e-06"/>
</inertial>
</link>
<joint name="jmf4" type="revolute">
<parent link="mf3"/>
<child link="mf4"/>
<origin xyz= "0.0384 0 0" rpy = "0 0 0"/>
<limit lower="-0.327" upper="1.718" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="mf5">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f5.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f5.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="1.6654268e-02"/>
<inertia ixx="1.4702815e-06" ixy=" 0.0000000e+00" ixz="0.0000000e+00"
iyx= "0.0000000e+00" iyy= " 3.8502616e-06" iyz="0.0000000e+00"
izx = "0.0000000e+00" izy = "0.0000000e+00" izz="3.8502616e-06"/>
</inertial>
</link>
<joint name="jmf5" type="fixed">
<parent link="mf4"/>
<child link="mf5"/>
<origin xyz= "0.0157 0 0"/>
</joint>
<!--Pinky Finger-->
<link name="pf1">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f1.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f1.stl" scale ="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<mass value="1.1350110e-02"/>
<inertia ixx="2.7007029e-06" ixy="3.1772169e-09" ixz="-9.9625685e-09"
iyx= "3.1772169e-09" iyy="2.0578543e-06" iyz="4.1823243e-09"
izx = "-9.9625685e-09" izy = "4.1823243e-09" izz="1.2713693e-06"/>
</inertial>
</link>
<joint name="jpf1" type="revolute">
<parent link="base_link"/>
<child link="pf1"/>
<axis xyz="0 0 1"/>
<origin rpy = "0.0872665 0 0" xyz ="0 -0.045098 0.014293 "/>
<limit lower="-0.57" upper="0.57" effort="10" velocity="3"/>
</joint>
<link name="pf2">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f2.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy = " -1.5708 -1.5708 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f2.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = " -1.5708 -1.5708 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="7.1189096e-02"/>
<inertia ixx="7.0483360e-06" ixy="2.7238745e-06" ixz="-5.7605847e-07"
iyx= "2.7238745e-06" iyy=" 7.7935727e-05" iyz="2.1115155e-08"
izx = "-5.7605847e-07" izy = "2.1115155e-08" izz=" 7.6656552e-05"/>
</inertial>
</link>
<joint name="jpf2" type="revolute">
<parent link="pf1"/>
<child link="pf2"/>
<origin rpy = "0 0 0" xyz ="0 0 0 "/>
<limit lower="-0.296" upper="1.71" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="pf3">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f3.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="blue"/>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f3.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="3.7588606e-02"/>
<inertia ixx="3.8700419e-06" ixy=" 9.4859852e-07" ixz="-3.4727103e-07"
iyx= " 9.4859852e-07" iyy=" 2.9392367e-05" iyz=" 4.1019588e-08"
izx = "-3.4727103e-07" izy = " 4.1019588e-08" izz="2.8178175e-05"/>
</inertial>
</link>
<joint name="jpf3" type="revolute">
<parent link="pf2"/>
<child link="pf3"/>
<origin xyz= "0 0 0.054" rpy = "0 -1.5708 0"/>
<limit lower="-0.274" upper="1.809" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="pf4">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f4.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f4.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="9.4301124e-03"/>
<inertia ixx="1.2117405e-06" ixy="9.9624823e-09" ixz="6.9119137e-10"
iyx= "9.9624823e-09" iyy="2.1794983e-06" iyz="3.1772815e-09"
izx = "6.9119137e-10" izy = "3.1772815e-09" izz=" 1.5590472e-06"/>
</inertial>
</link>
<joint name="jpf4" type="revolute">
<parent link="pf3"/>
<child link="pf4"/>
<origin xyz= "0.0384 0 0"/>
<limit lower="-0.327" upper="1.718" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="pf5">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f5.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f5.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="1.6654268e-02"/>
<inertia ixx="1.4702815e-06" ixy=" 0.0000000e+00" ixz="0.0000000e+00"
iyx= "0.0000000e+00" iyy= "3.8502616e-06" iyz="0.0000000e+00"
izx = "0.0000000e+00" izy = "0.0000000e+00" izz="3.8502616e-06"/>
</inertial>
</link>
<joint name="jpf5" type="fixed">
<parent link="pf4"/>
<child link="pf5"/>
<origin xyz= "0.0157 0 0"/>
</joint>
<!--Index FInger-->
<link name="if1">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f1.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f1.stl" scale ="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<mass value="1.1350110e-02"/>
<inertia ixx=" 2.7007029e-06" ixy="3.1772169e-09" ixz="-9.9625685e-09"
iyx= "3.1772169e-09" iyy="2.0578543e-06" iyz="4.1823243e-09"
izx = "-9.9625685e-09" izy = "4.1823243e-09" izz="1.2713693e-06"/>
</inertial>
</link>
<joint name="jif1" type="revolute">
<parent link="base_link"/>
<child link="if1"/>
<axis xyz="0 0 1"/>
<origin rpy = "-0.0872665 0 0" xyz ="0 0.045098 0.014293 "/>
<limit lower="-0.57" upper="0.57" effort="10" velocity="3"/>
</joint>
<link name="if2">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f2.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy = " -1.5708 -1.5708 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f2.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = " -1.5708 -1.5708 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="7.1189096e-02"/>
<inertia ixx="7.0483360e-06" ixy="2.7238745e-06" ixz="-5.7605847e-07"
iyx= "2.7238745e-06" iyy=" 7.7935727e-05" iyz="2.1115155e-08"
izx = "-5.7605847e-07" izy = "2.1115155e-08" izz="7.6656552e-05"/>
</inertial>
</link>
<joint name="jif2" type="revolute">
<parent link="if1"/>
<child link="if2"/>
<origin rpy = "0 0 0" xyz ="0 0 0 "/>
<limit lower="-0.296" upper="1.71" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="if3">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f3.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="blue"/>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f3.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="3.7588606e-02"/>
<inertia ixx="3.8700419e-06" ixy=" 9.4859852e-07" ixz="-3.4727103e-07"
iyx= " 9.4859852e-07" iyy=" 2.9392367e-05" iyz="4.1019588e-08"
izx = "-3.4727103e-07" izy = " 4.1019588e-08" izz="2.8178175e-05"/>
</inertial>
</link>
<joint name="jif3" type="revolute">
<parent link="if2"/>
<child link="if3"/>
<origin xyz= "0 0 0.054" rpy = "0 -1.5708 0"/>
<limit lower="-0.274" upper="1.809" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="if4">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f4.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f4.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="9.4301124e-03"/>
<inertia ixx="1.2117405e-06" ixy="9.9624823e-09" ixz="6.9119137e-10"
iyx= "9.9624823e-09" iyy="2.1794983e-06" iyz="3.1772815e-09"
izx = "6.9119137e-10" izy = "3.1772815e-09" izz="1.5590472e-06"/>
</inertial>
</link>
<joint name="jif4" type="revolute">
<parent link="if3"/>
<child link="if4"/>
<origin xyz= "0.0384 0 0"/>
<limit lower="-0.327" upper="1.718" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="if5">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f5.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f5.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 0 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="1.6654268e-02"/>
<inertia ixx=" 1.4702815e-06" ixy=" 0.0000000e+00" ixz="0.0000000e+00"
iyx= "0.0000000e+00" iyy= " 3.8502616e-06" iyz="0.0000000e+00"
izx = "0.0000000e+00" izy = "0.0000000e+00" izz="3.8502616e-06"/>
</inertial>
</link>
<joint name="jif5" type="fixed">
<parent link="if4"/>
<child link="if5"/>
<origin xyz= "0.0157 0 0"/>
</joint>
<!--Thumb-->
<link name="th1">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_t1_r.stl" scale = "0.001 0.001 0.001"/>
<!-- <origin xyz ="-0.0182 0.016958 -0.073288 " /> -->
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_t1_r.stl" scale = "0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<mass value="7.9809876e-02"/>
<inertia ixx="4.7114004e-05" ixy="-8.5650686e-06" ixz="-5.1403625e-06"
iyx= "-8.5650686e-06" iyy="2.9419559e-05" iyz="-1.2569682e-05"
izx = "-5.1403625e-06" izy = "-1.2569682e-05" izz="4.0511157e-05"/>
</inertial>
</link>
<joint name="jth1" type="revolute">
<parent link="base_link"/>
<child link="th1"/>
<limit lower="0.36357" upper="1.4968" effort="10" velocity="3"/>
<axis xyz="0 0 -1"/>
<origin rpy = "-0.0872665 0 0" xyz ="-0.0182 0.016958 -0.0723 " />
</joint>
<link name="th2">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f1.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="blue"/>
<origin rpy = "-1.5708 -1.5708 0" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f1.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<origin rpy = "-1.5708 -1.5708 0" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="1.1350110e-02"/>
<inertia ixx="2.7007029e-06" ixy="3.1772015e-09" ixz="-9.9625696e-09"
iyx= "3.1772015e-09" iyy="2.0578543e-06" iyz="4.1823243e-09"
izx = "-9.9625696e-09" izy = "4.1823243e-09" izz=" 1.2713693e-06"/>
</inertial>
</link>
<joint name="jth2" type="revolute">
<parent link="th1"/>
<child link="th2"/>
<origin rpy = "0 0 0" xyz ="0.005 0.055189 0 "/>
<limit lower="-0.20504289" upper="1.13" effort="10" velocity="3"/>
<axis xyz="0 1 0"/>
</joint>
<link name="th3">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_t3.stl" scale = "0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy = "1.5708 0 1.5708" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_t3.stl" scale = "0.001 0.001 0.001"/>
</geometry>
<origin rpy = "1.5708 0 1.5708" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value="4.0206693e-02"/>
<inertia ixx="4.3413941e-06" ixy="9.6355047e-07" ixz="-3.9856829e-07"
iyx= "9.6355047e-07" iyy="2.1797267e-05" iyz="-1.2313988e-08"
izx = "-3.9856829e-07" izy = "-1.2313988e-08" izz="2.0281187e-05"/>
</inertial>
</link>
<joint name="jth3" type="revolute">
<parent link="th2"/>
<child link="th3"/>
<origin rpy = "0 0 0" xyz ="0 0 0 "/>
<limit lower="-0.2897" upper="1.633" effort="10" velocity="3"/>
<axis xyz="1 0 0"/>
</joint>
<link name="th4">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_t4.stl" scale = "0.001 0.001 0.001"/>
</geometry>
<material name="blue"/>
<origin rpy = "1.5708 0 1.5708" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_t4.stl" scale = "0.001 0.001 0.001"/>
</geometry>
<origin rpy = "1.5708 0 1.5708" xyz ="0 0 0 "/>
</collision>
<inertial>
<mass value=" 4.0750131e-02"/>
<inertia ixx=" 3.9420540e-06" ixy="5.6337647e-07" ixz="-5.3566170e-08"
iyx= " 5.6337647e-07" iyy=" 1.6474691e-05" iyz="-1.8757848e-08"
izx = " -5.3566170e-08" izy = "-1.8757848e-08" izz="1.5477224e-05"/>
</inertial>
</link>
<joint name="jth4" type="revolute">
<parent link="th3"/>
<child link="th4"/>
<origin rpy = "0 0 0" xyz ="0 0.051204 0 "/>
<limit lower="-0.2622" upper="1.81991" effort="10" velocity="3"/>
<axis xyz="1 0 0"/>
</joint>
<link name="th5">
<visual>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f5.stl" scale ="0.001 0.001 0.001"/>
</geometry>
<material name="white"/>
<origin rpy = " 0 0 1.5708" xyz ="0 0 0 "/>
</visual>
<collision>
<geometry>
<mesh filename="package://allegro_hand_model/meshes/40_10_link_f5.stl" scale ="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<mass value="1.6654268e-02"/>
<inertia ixx=" 1.4702815e-06" ixy=" 0.0000000e+00" ixz="0.0000000e+00"
iyx= "0.0000000e+00" iyy= " 3.8502616e-06" iyz="0.0000000e+00"
izx = "0.0000000e+00" izy = "0.0000000e+00" izz="3.8502616e-06"/>
</inertial>
</link>
<joint name="jth5" type="fixed">
<parent link="th4"/>
<child link="th5"/>
<origin rpy = "0 -1.4835335 0" xyz ="0 0.0313 0 "/>
</joint>
</robot>