<?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-L000-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="0.00074258 -0.0074101 0.047286"
        rpy="0 0 0" />
      <mass
        value="0.10796" />
      <inertia
        ixx="4.6383E-05"
        ixy="-3.2407E-08"
        ixz="1.9335E-07"
        iyy="6.715E-05"
        iyz="1.5535E-06"
        izz="3.0034E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="finger11_link">
    <inertial>
      <origin
        xyz="0.0084275 0.0014873 0.00095853"
        rpy="0 0 0" />
      <mass
        value="0.0027298" />
      <inertia
        ixx="3.5725E-07"
        ixy="-7.4158E-09"
        ixz="-3.5014E-08"
        iyy="3.2865E-07"
        iyz="-1.169E-08"
        izz="1.0938E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger11_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger11"
    type="revolute">
    <origin
      xyz="0.019352 0.0078052 0.03432"
      rpy="0 5.6618E-05 0" />
    <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="-0.021058 0.028795 -0.019946"
        rpy="0 0 0" />
      <mass
        value="0.15692" />
      <inertia
        ixx="0.00030961"
        ixy="5.4172E-05"
        ixz="5.3321E-06"
        iyy="0.00013891"
        iyz="-3.9727E-05"
        izz="0.00022363" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger12_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger12"
    type="revolute">
    <origin
      xyz="0.015 0.0024172 0.0067143"
      rpy="1.1789 0.2618 1.5708" />
    <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="2.0798E-05 -0.0010263 0.0087715"
        rpy="0 0 0" />
      <mass
        value="0.0051235" />
      <inertia
        ixx="2.4095E-07"
        ixy="-4.7789E-10"
        ixz="-9.7647E-10"
        iyy="3.0808E-07"
        iyz="-2.5035E-09"
        izz="1.6137E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-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="-3.8304E-06 0.0042573 0.012288"
        rpy="0 0 0" />
      <mass
        value="0.0024051" />
      <inertia
        ixx="6.5145E-08"
        ixy="-3.3333E-10"
        ixz="-5.3723E-10"
        iyy="9.9513E-08"
        iyz="4.5334E-09"
        izz="5.5445E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-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="3.7099E-06 -0.00011919 0.014618"
        rpy="0 0 0" />
      <mass
        value="0.003938" />
      <inertia
        ixx="3.1596E-07"
        ixy="-4.1456E-11"
        ixz="-5.5676E-11"
        iyy="3.4221E-07"
        iyz="-2.8999E-08"
        izz="1.5546E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger21_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger21"
    type="revolute">
    <origin
      xyz="0.026322 -0.0053264 0.083909"
      rpy="0.015713 0.09766 0.15979" />
    <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="3.4856E-05 -0.0023817 0.010735"
        rpy="0 0 0" />
      <mass
        value="0.0035951" />
      <inertia
        ixx="3.7147E-07"
        ixy="7.6809E-11"
        ixz="-2.1746E-09"
        iyy="3.7949E-07"
        iyz="-1.1538E-08"
        izz="5.7613E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger22_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger22"
    type="revolute">
    <origin
      xyz="0 0.0030778 0.027857"
      rpy="-0.11004 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="7.8368E-05 0.0020018 0.019395"
        rpy="0 0 0" />
      <mass
        value="0.0019493" />
      <inertia
        ixx="9.2479E-08"
        ixy="3.0475E-11"
        ixz="-2.7428E-11"
        iyy="9.8313E-08"
        iyz="-1.5567E-08"
        izz="2.6652E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-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="2.5591E-06 8.5087E-05 0.016695"
        rpy="0 0 0" />
      <mass
        value="0.0046564" />
      <inertia
        ixx="4.6404E-07"
        ixy="-6.6121E-11"
        ixz="-4.4012E-11"
        iyy="4.9011E-07"
        iyz="-4.5262E-08"
        izz="1.8452E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger31_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger31"
    type="revolute">
    <origin
      xyz="0.0085306 -0.006534 0.088185"
      rpy="0.00071294 0.013408 0.053126" />
    <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="5.3761E-07 -1.2538E-05 0.012568"
        rpy="0 0 0" />
      <mass
        value="0.0039652" />
      <inertia
        ixx="5.1368E-07"
        ixy="-4.1127E-10"
        ixz="-1.5216E-09"
        iyy="5.0101E-07"
        iyz="-1.0082E-07"
        izz="8.7117E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger32_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger32"
    type="revolute">
    <origin
      xyz="0 0.0037175 0.032318"
      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="-2.1786E-06 0.0059988 0.02098"
        rpy="0 0 0" />
      <mass
        value="0.0022728" />
      <inertia
        ixx="1.4797E-07"
        ixy="1.6047E-11"
        ixz="-8.1878E-13"
        iyy="1.4043E-07"
        iyz="-4.353E-08"
        izz="4.3712E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-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="2.0328E-06 -0.00060204 0.014928"
        rpy="0 0 0" />
      <mass
        value="0.0041427" />
      <inertia
        ixx="3.621E-07"
        ixy="-4.6417E-11"
        ixz="-4.1481E-11"
        iyy="3.8957E-07"
        iyz="-3.1589E-08"
        izz="1.6169E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger41_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger41"
    type="revolute">
    <origin
      xyz="-0.0088876 -0.0072813 0.087396"
      rpy="0.0030266 -0.061554 -0.049162" />
    <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="2.8428E-05 -0.001525 0.011155"
        rpy="0 0 0" />
      <mass
        value="0.0038285" />
      <inertia
        ixx="3.9947E-07"
        ixy="-3.73E-11"
        ixz="-2.2809E-09"
        iyy="4.0449E-07"
        iyz="-3.5369E-08"
        izz="6.5075E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger42_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger42"
    type="revolute">
    <origin
      xyz="0 0.0025283 0.02942"
      rpy="0 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="8.2647E-05 0.0034199 0.020014"
        rpy="0 0 0" />
      <mass
        value="0.0019493" />
      <inertia
        ixx="9.2476E-08"
        ixy="4.4007E-11"
        ixz="-6.2162E-11"
        iyy="9.5853E-08"
        iyz="-2.0306E-08"
        izz="2.9109E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-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="0.0005971 -0.0018425 0.013171"
        rpy="0 0 0" />
      <mass
        value="0.0034504" />
      <inertia
        ixx="2.3783E-07"
        ixy="-2.64E-10"
        ixz="-3.398E-09"
        iyy="2.6908E-07"
        iyz="-7.554E-09"
        izz="1.3534E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger51_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger51"
    type="revolute">
    <origin
      xyz="-0.026448 -0.0055489 0.08298"
      rpy="-0.074855 -0.15057 -0.14704" />
    <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="3.1581E-05 -0.0009964 0.0084913"
        rpy="0 0 0" />
      <mass
        value="0.0034586" />
      <inertia
        ixx="2.5318E-07"
        ixy="-6.386E-11"
        ixz="-1.0687E-09"
        iyy="2.5376E-07"
        iyz="-2.5784E-08"
        izz="6.4634E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-A1/meshes/finger52_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="finger52"
    type="revolute">
    <origin
      xyz="0 0 0.025024"
      rpy="0.097068 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="0.00010532 0.0043692 0.016718"
        rpy="0 0 0" />
      <mass
        value="0.0014962" />
      <inertia
        ixx="4.394E-08"
        ixy="4.4189E-11"
        ixz="2.3366E-10"
        iyy="4.5405E-08"
        iyz="-1.0753E-08"
        izz="2.1333E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://DH116S-L000-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-L000-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>
