<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="DH116S-R000-A1">
  <!--
    Authoritative kinematic description for this hand is the MJCF model.

    Independent DOFs: finger11, finger12, finger21, finger31, finger41, finger51
    Passive follower joints:
      finger13 follows finger12
      finger22 follows finger21
      finger32 follows finger31
      finger42 follows finger41
      finger52 follows finger51

    Note: URDF mimic supports only linear coupling:
      q_follower = multiplier * q_driver + offset
    The MJCF model uses quadratic coupling for the passive joints. The mimic tags
    below therefore capture the joint dependency and first-order coefficients, but
    they do not exactly reproduce the nonlinear MJCF equality constraints.
  -->
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.00044529 0.0074122 0.047285"
        rpy="0 0 0" />
      <mass
        value="0.10795" />
      <inertia
        ixx="4.6381E-05"
        ixy="2.7508E-08"
        ixz="1.863E-07"
        iyy="6.7147E-05"
        iyz="-1.5554E-06"
        izz="3.0034E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="finger11_link">
    <inertial>
      <origin
        xyz="-0.0014872 -0.0084274 0.00095867"
        rpy="0 0 0" />
      <mass
        value="0.0027298" />
      <inertia
        ixx="3.2865E-07"
        ixy="-7.416E-09"
        ixz="1.1689E-08"
        iyy="3.5725E-07"
        iyz="3.5012E-08"
        izz="1.0938E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger11_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger11_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger11"
    type="revolute">
    <origin
      xyz="0.019011 -0.007805 0.03432"
      rpy="0 -3.0438E-05 1.5708" />
    <parent
      link="base_link" />
    <child
      link="finger11_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="0"
      upper="1.75"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="finger12_link">
    <inertial>
      <origin
        xyz="0.021017 0.028207 -0.020207"
        rpy="0 0 0" />
      <mass
        value="0.15691" />
      <inertia
        ixx="0.00031329"
        ixy="-5.4214E-05"
        ixz="-3.0162E-06"
        iyy="0.00014267"
        iyz="-3.8971E-05"
        izz="0.00022524" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger12_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger12_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger12"
    type="revolute">
    <origin
      xyz="-0.0024172 -0.015 0.0067143"
      rpy="1.1997 -0.2618 0" />
    <parent
      link="finger11_link" />
    <child
      link="finger12_link" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="0"
      upper="1.40"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="finger13_link">
    <inertial>
      <origin
        xyz="2.0803E-05 -0.0010263 0.0087716"
        rpy="0 0 0" />
      <mass
        value="0.0051235" />
      <inertia
        ixx="2.4095E-07"
        ixy="-4.7783E-10"
        ixz="-9.7696E-10"
        iyy="3.0808E-07"
        iyz="-2.5033E-09"
        izz="1.6137E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger13_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger13_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger13"
    type="revolute">
    <origin
      xyz="0 0 0.040273"
      rpy="0 0 0" />
    <parent
      link="finger12_link" />
    <child
      link="finger13_link" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="0"
      upper="1.13"
      effort="0"
      velocity="0" />
    <mimic
      joint="finger12"
      multiplier="0.929"
      offset="-0.015082" />
  </joint>
  <link
    name="finger14_link">
    <inertial>
      <origin
        xyz="-3.9568E-06 0.0042569 0.012288"
        rpy="0 0 0" />
      <mass
        value="0.0024048" />
      <inertia
        ixx="6.5133E-08"
        ixy="-3.3089E-10"
        ixz="-5.4015E-10"
        iyy="9.9517E-08"
        iyz="4.5348E-09"
        izz="5.5452E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger14_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger14_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger14"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="finger13_link" />
    <child
      link="finger14_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="finger21_link">
    <inertial>
      <origin
        xyz="-3.1071E-06 -0.00017638 0.014617"
        rpy="0 0 0" />
      <mass
        value="0.0039377" />
      <inertia
        ixx="3.1595E-07"
        ixy="-3.4302E-11"
        ixz="6.472E-11"
        iyy="3.4097E-07"
        iyz="3.2752E-08"
        izz="1.5671E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger21_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger21_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger21"
    type="revolute">
    <origin
      xyz="0.026269 0.0052799 0.083877"
      rpy="-0.018831 0.11816 -0.15867" />
    <parent
      link="base_link" />
    <child
      link="finger21_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="1.40"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="finger22_link">
    <inertial>
      <origin
        xyz="-3.4858E-05 0.00071691 0.010973"
        rpy="0 0 0" />
      <mass
        value="0.0035951" />
      <inertia
        ixx="3.7147E-07"
        ixy="-2.5545E-10"
        ixz="2.1606E-09"
        iyy="3.6852E-07"
        iyz="5.9509E-08"
        izz="6.8574E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger22_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger22_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger22"
    type="revolute">
    <origin
      xyz="0 -0.0036408 0.027789"
      rpy="0 0 0" />
    <parent
      link="finger21_link" />
    <child
      link="finger22_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="1.75"
      effort="0"
      velocity="0" />
    <mimic
      joint="finger21"
      multiplier="0.8847"
      offset="0.038265" />
  </joint>
  <link
    name="finger23_link">
    <inertial>
      <origin
        xyz="-7.8448E-05 -0.004936 0.018863"
        rpy="0 0 0" />
      <mass
        value="0.0019493" />
      <inertia
        ixx="9.2478E-08"
        ixy="2.6283E-11"
        ixz="3.1426E-11"
        iyy="9.1954E-08"
        iyz="2.5642E-08"
        izz="3.301E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger23_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger23_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger23"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="finger22_link" />
    <child
      link="finger23_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="finger31_link">
    <inertial>
      <origin
        xyz="-2.463E-06 0.0016883 0.016609"
        rpy="0 0 0" />
      <mass
        value="0.0046564" />
      <inertia
        ixx="4.6403E-07"
        ixy="-6.2008E-11"
        ixz="5.3483E-11"
        iyy="4.9622E-07"
        iyz="1.1987E-08"
        izz="1.7841E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger31_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger31_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger31"
    type="revolute">
    <origin
      xyz="0.008744 0.006507 0.088166"
      rpy="0.10576 0.052052 -0.049525" />
    <parent
      link="base_link" />
    <child
      link="finger31_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="1.40"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="finger32_link">
    <inertial>
      <origin
        xyz="-4.2116E-07 0.0013472 0.012495"
        rpy="0 0 0" />
      <mass
        value="0.0039648" />
      <inertia
        ixx="5.136E-07"
        ixy="-2.467E-10"
        ixz="1.5491E-09"
        iyy="5.1755E-07"
        iyz="5.4832E-08"
        izz="7.0491E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger32_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger32_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger32"
    type="revolute">
    <origin
      xyz="0 -0.00026526 0.03253"
      rpy="0 0 0" />
    <parent
      link="finger31_link" />
    <child
      link="finger32_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="1.75"
      effort="0"
      velocity="0" />
    <mimic
      joint="finger31"
      multiplier="0.8485"
      offset="0.035946" />
  </joint>
  <link
    name="finger33_link">
    <inertial>
      <origin
        xyz="2.3154E-06 -0.0037373 0.021499"
        rpy="0 0 0" />
      <mass
        value="0.0022727" />
      <inertia
        ixx="1.4796E-07"
        ixy="1.5864E-11"
        ixz="-3.152E-13"
        iyy="1.4852E-07"
        iyz="3.2337E-08"
        izz="3.561E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger33_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger33_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger33"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="finger32_link" />
    <child
      link="finger33_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="finger41_link">
    <inertial>
      <origin
        xyz="-2.0192E-06 0.0018776 0.014821"
        rpy="0 0 0" />
      <mass
        value="0.0041427" />
      <inertia
        ixx="3.6211E-07"
        ixy="-4.5157E-11"
        ixz="4.6434E-11"
        iyy="3.9328E-07"
        iyz="1.1678E-08"
        izz="1.5797E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger41_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger41_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger41"
    type="revolute">
    <origin
      xyz="-0.0088463 0.0073041 0.087413"
      rpy="0.082606 -0.034779 0.050937" />
    <parent
      link="base_link" />
    <child
      link="finger41_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="1.40"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="finger42_link">
    <inertial>
      <origin
        xyz="-2.8427E-05 0.0015404 0.011153"
        rpy="0 0 0" />
      <mass
        value="0.0038285" />
      <inertia
        ixx="3.9947E-07"
        ixy="-3.4225E-11"
        ixz="2.2812E-09"
        iyy="4.0458E-07"
        iyz="3.4902E-08"
        izz="6.4978E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger42_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger42_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger42"
    type="revolute">
    <origin
      xyz="0 0 0.029529"
      rpy="-0.084349 0 0" />
    <parent
      link="finger41_link" />
    <child
      link="finger42_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="1.75"
      effort="0"
      velocity="0" />
    <mimic
      joint="finger41"
      multiplier="0.8321"
      offset="0.043170" />
  </joint>
  <link
    name="finger43_link">
    <inertial>
      <origin
        xyz="-8.2684E-05 -0.0033924 0.020019"
        rpy="0 0 0" />
      <mass
        value="0.0019493" />
      <inertia
        ixx="9.2478E-08"
        ixy="4.3975E-11"
        ixz="6.2557E-11"
        iyy="9.5911E-08"
        iyz="2.0215E-08"
        izz="2.9054E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger43_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger43_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger43"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="finger42_link" />
    <child
      link="finger43_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="finger51_link">
    <inertial>
      <origin
        xyz="-2.2824E-06 0.0018149 0.013139"
        rpy="0 0 0" />
      <mass
        value="0.0034504" />
      <inertia
        ixx="2.3794E-07"
        ixy="-2.6265E-12"
        ixz="8.6014E-11"
        iyy="2.6911E-07"
        iyz="7.2418E-09"
        izz="1.3519E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger51_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger51_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger51"
    type="revolute">
    <origin
      xyz="-0.026313 0.0056254 0.083042"
      rpy="0.076915 -0.11667 0.14928" />
    <parent
      link="base_link" />
    <child
      link="finger51_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="1.40"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="finger52_link">
    <inertial>
      <origin
        xyz="-3.1534E-05 0.001792 0.0083594"
        rpy="0 0 0" />
      <mass
        value="0.0034587" />
      <inertia
        ixx="2.5319E-07"
        ixy="3.7687E-11"
        ixz="1.0696E-09"
        iyy="2.5692E-07"
        iyz="7.5776E-09"
        izz="6.1477E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger52_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger52_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger52"
    type="revolute">
    <origin
      xyz="0 0 0.025024"
      rpy="0 0 0" />
    <parent
      link="finger51_link" />
    <child
      link="finger52_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="1.75"
      effort="0"
      velocity="0" />
    <mimic
      joint="finger51"
      multiplier="0.7349"
      offset="0.035218" />
  </joint>
  <link
    name="finger53_link">
    <inertial>
      <origin
        xyz="-0.0001026 -0.0027756 0.017057"
        rpy="0 0 0" />
      <mass
        value="0.0014968" />
      <inertia
        ixx="4.3984E-08"
        ixy="2.7281E-11"
        ixz="-2.4817E-10"
        iyy="4.7233E-08"
        iyz="8.3311E-09"
        izz="1.9545E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger53_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-R000-A1/meshes/finger53_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger53"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="finger52_link" />
    <child
      link="finger53_link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>
