<?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="TeleGlove-Skel-V2">
  <link name="base_link" />
  
  <link
    name="link_LeftSkeletonBase">
    <inertial>
      <origin
        xyz="-0.00749753420935165 -0.0227779010823181 -0.00762245254505953"
        rpy="0 0 0" />
      <mass
        value="0.0385404758862162" />
      <inertia
        ixx="1.5781649968523E-05"
        ixy="-6.15931854476103E-07"
        ixz="6.08543479401497E-07"
        iyy="2.35933155606765E-05"
        iyz="-3.31829190600613E-07"
        izz="3.85261681673409E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonBase.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonBase.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="link_LeftSkeletonThumbBase">
    <inertial>
      <origin
        xyz="-0.00565122125132898 -0.000501255807949387 -0.0144743297760789"
        rpy="0 0 0" />
      <mass
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        ixy="-4.84190547312495E-09"
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        iyy="4.03125891253508E-07"
        iyz="-1.09069982752038E-08"
        izz="1.64098935188539E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumbBase.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumbBase.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_LeftSkeletonThumbBase"
    type="revolute">
    <origin
      xyz="0.040042 -0.053331 -0.015"
      rpy="0 0 0.99442" />
    <parent
      link="link_LeftSkeletonBase" />
    <child
      link="link_LeftSkeletonThumbBase" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link_LeftSkeletonThumb1">
    <inertial>
      <origin
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        rpy="0 0 0" />
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        iyz="-1.54337387607888E-08"
        izz="5.62651868917734E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumb1.STL" />
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      <material
        name="">
        <color
          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumb1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_LeftSkeletonThumb1"
    type="revolute">
    <origin
      xyz="-0.0072 -0.006 -0.0195"
      rpy="1.5708 1.5708 0" />
    <parent
      link="link_LeftSkeletonThumbBase" />
    <child
      link="link_LeftSkeletonThumb1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link_LeftSkeletonThumb2">
    <inertial>
      <origin
        xyz="-0.00317442925766077 0.0196575172689567 0.0351584882722305"
        rpy="0 0 0" />
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        iyz="-2.23318773402518E-06"
        izz="2.13736337805848E-06" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumb2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumb2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_LeftSkeletonThumb2"
    type="revolute">
    <origin
      xyz="0.0036 0.0074761 0.0074414"
      rpy="-1.309 0 0" />
    <parent
      link="link_LeftSkeletonThumb1" />
    <child
      link="link_LeftSkeletonThumb2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link_LeftSkeletonThumb3">
    <inertial>
      <origin
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        rpy="0 0 0" />
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        iyy="8.63233919922149E-07"
        iyz="-1.41288391115611E-07"
        izz="1.04419284261821E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumb3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumb3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_LeftSkeletonThumb3"
    type="revolute">
    <origin
      xyz="0 0.050552 0.068334"
      rpy="-0.81433 0 0" />
    <parent
      link="link_LeftSkeletonThumb2" />
    <child
      link="link_LeftSkeletonThumb3" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link_LeftSkeletonThumb4">
    <inertial>
      <origin
        xyz="-0.00333632335070058 0.000371606793291818 -0.00578987689802116"
        rpy="0 0 0" />
      <mass
        value="0.00248530627308408" />
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        iyy="6.81486734080318E-08"
        iyz="1.25746343965212E-08"
        izz="9.91247365236608E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumb4.STL" />
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      <material
        name="">
        <color
          rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonThumb4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_LeftSkeletonThumb4"
    type="revolute">
    <origin
      xyz="0 0.0080746 0.045794"
      rpy="2.5307 0 0" />
    <parent
      link="link_LeftSkeletonThumb3" />
    <child
      link="link_LeftSkeletonThumb4" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
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  <link
    name="link_LeftSkeletonIndex1">
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      <origin
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        rpy="0 0 0" />
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        izz="5.62651877389945E-08" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonIndex1.STL" />
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      <material
        name="">
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    </visual>
    <collision>
      <origin
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        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_LeftSkeletonIndex1.STL" />
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    </collision>
  </link>
  <joint
    name="joint_LeftSkeletonIndex1"
    type="revolute">
    <origin
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      rpy="0 0.2618 0.1199" />
    <parent
      link="link_LeftSkeletonBase" />
    <child
      link="link_LeftSkeletonIndex1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
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      effort="0"
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  <link
    name="link_LeftSkeletonIndex2">
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    <visual>
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      <material
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    name="joint_LeftSkeletonIndex2"
    type="revolute">
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      link="link_LeftSkeletonBase" />
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  <link
    name="link_RightSkeletonPinky1">
    <inertial>
      <origin
        xyz="-2.70783647316891E-05 0.00247468454075649 0.00438677023352406"
        rpy="0 0 0" />
      <mass
        value="0.00180132348104384" />
      <inertia
        ixx="8.71002855401404E-08"
        ixy="-3.0579024128593E-09"
        ixz="-3.65932606331154E-09"
        iyy="4.76122762136426E-08"
        iyz="-1.54337385587283E-08"
        izz="5.62651878023263E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_RightSkeletonPinky1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_RightSkeletonPinky1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_RightSkeletonPinky1"
    type="revolute">
    <origin
      xyz="0.042036 -0.0050645 -0.0016681"
      rpy="0 0.17453 -0.1199" />
    <parent
      link="link_RightSkeletonBase" />
    <child
      link="link_RightSkeletonPinky1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link_RightSkeletonPinky2">
    <inertial>
      <origin
        xyz="-0.00311283541120784 0.0166192705623678 0.0318658136955139"
        rpy="0 0 0" />
      <mass
        value="0.0067497594475408" />
      <inertia
        ixx="3.46397833922593E-06"
        ixy="1.30587439381818E-10"
        ixz="8.35079748445962E-09"
        iyy="2.01270889456715E-06"
        iyz="-1.58719524317918E-06"
        izz="1.4942166027297E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_RightSkeletonPinky2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_RightSkeletonPinky2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_RightSkeletonPinky2"
    type="revolute">
    <origin
      xyz="0.0036 0.0074761 0.0074414"
      rpy="-0.75647 0 0" />
    <parent
      link="link_RightSkeletonPinky1" />
    <child
      link="link_RightSkeletonPinky2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link_RightSkeletonPinky3">
    <inertial>
      <origin
        xyz="-0.00383497024517236 0.0244480265649626 0.0311210850112837"
        rpy="0 0 0" />
      <mass
        value="0.00955299640358521" />
      <inertia
        ixx="5.99036075078254E-06"
        ixy="1.24417220165582E-08"
        ixz="1.98395716147955E-08"
        iyy="1.28414023315915E-06"
        iyz="-1.537954641971E-06"
        izz="4.75719527298133E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_RightSkeletonPinky3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_RightSkeletonPinky3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_RightSkeletonPinky3"
    type="revolute">
    <origin
      xyz="0 0.043889 0.062046"
      rpy="0.46849 0 0" />
    <parent
      link="link_RightSkeletonPinky2" />
    <child
      link="link_RightSkeletonPinky3" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link_RightSkeletonPinky4">
    <inertial>
      <origin
        xyz="-0.00333632335055932 0.000371606793700408 -0.00578987689769508"
        rpy="0 0 0" />
      <mass
        value="0.00248530627286456" />
      <inertia
        ixx="8.99933271114385E-08"
        ixy="3.72496852377213E-09"
        ixz="-8.07552357954253E-09"
        iyy="6.81486734074278E-08"
        iyz="1.25746344004168E-08"
        izz="9.91247365246927E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_RightSkeletonPinky4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/link_RightSkeletonPinky4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint_RightSkeletonPinky4"
    type="revolute">
    <origin
      xyz="0 0.064952 0.0375"
      rpy="1.2217 0 0" />
    <parent
      link="link_RightSkeletonPinky3" />
    <child
      link="link_RightSkeletonPinky4" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="R_handleseat">
    <inertial>
      <origin
        xyz="-0.00547100670978662 -0.000141520339359325 -0.00339385954709473"
        rpy="0 0 0" />
      <mass
        value="0.00565039109711392" />
      <inertia
        ixx="8.64141670752131E-07"
        ixy="-5.92609988907797E-09"
        ixz="-3.81500167983165E-09"
        iyy="1.12504962687996E-06"
        iyz="-1.62299244267611E-09"
        izz="1.98251993669247E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/R_handleseat.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="file://../meshes/v5/R_handleseat.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_handleseat_None"
    type="fixed">
    <origin
      xyz="0.0063169 -0.034356 0.0098"
      rpy="0 0 -0.11454" />
    <parent
      link="link_RightSkeletonBase" />
    <child
      link="R_handleseat" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link name="right_thumb_tip" />
  <link name="right_index_tip" />
  <link name="right_middle_tip" />
  <link name="right_ring_tip" />
  <link name="right_pinky_tip" />
  <link name="left_thumb_tip" />
  <link name="left_index_tip" />
  <link name="left_middle_tip" />
  <link name="left_ring_tip" />
  <link name="left_pinky_tip" />
  <link name="right_hand" />
  <link name="left_hand" />

  <joint name="joint_RightSkeletonBase" type="fixed">
      <parent link="base_link" />
      <child link="link_RightSkeletonBase" />
      <origin xyz="0.1 0 0" rpy="0 0 0" />
  </joint>
  <joint name="joint_LeftSkeletonBase" type="fixed">
      <parent link="base_link" />
      <child link="link_LeftSkeletonBase" />
      <origin xyz="-0.1 0 0" rpy="0 0 0" />
  </joint>

  <joint name="right_thumb_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_RightSkeletonThumb4" />
        <child link="right_thumb_tip" />
    </joint>
    <joint name="right_index_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_RightSkeletonIndex4" />
        <child link="right_index_tip" />
    </joint>
    <joint name="right_middle_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_RightSkeletonMiddle4" />
        <child link="right_middle_tip" />
    </joint>
    <joint name="right_ring_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_RightSkeletonRing4" />
        <child link="right_ring_tip" />
    </joint>
    <joint name="right_pinky_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_RightSkeletonPinky4" />
        <child link="right_pinky_tip" />
    </joint>
    <joint name="left_thumb_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_LeftSkeletonThumb4" />
        <child link="left_thumb_tip" />
    </joint>
    <joint name="left_index_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_LeftSkeletonIndex4" />
        <child link="left_index_tip" />
    </joint>
    <joint name="left_middle_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_LeftSkeletonMiddle4" />
        <child link="left_middle_tip" />
    </joint>
    <joint name="left_ring_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_LeftSkeletonRing4" />
        <child link="left_ring_tip" />
    </joint>
    <joint name="left_pinky_tip_joint" type="fixed">
        <origin xyz="-0.005 0.003 -0.027" rpy="0 0 0" />
        <parent link="link_LeftSkeletonPinky4" />
        <child link="left_pinky_tip" />
    </joint>
    <joint name="joint_right_hand" type="fixed">
        <origin xyz="0.0097906 -0.039958 -0.03" rpy="0 0 0" />
        <parent link="link_RightSkeletonBase" />
        <child link="right_hand" />
    </joint>
    <joint name="joint_left_hand" type="fixed">
        <origin xyz="-0.0097906 -0.039958 -0.03" rpy="0 0 0" />
        <parent link="link_LeftSkeletonBase" />
        <child link="left_hand" />
    </joint>
</robot>