O6原始urdf
This commit is contained in:
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|
||||
<?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
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||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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||||
<robot
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||||
name="linkerhand_o6_right">
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||||
<material name="silver">
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<color rgba="0.5 0.5 0.52 1.0"/>
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||||
</material>
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||||
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||||
<material name="BlackAccent">
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||||
<color rgba="0.15 0.15 0.15 1.0"/>
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||||
</material>
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||||
<link
|
||||
name="rh_hand_base_link">
|
||||
<inertial>
|
||||
<origin
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xyz="-0.00160320773490556 0.000358462699237561 0.0538002704027215"
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rpy="0 0 0" />
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<mass
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value="0.06740077960995" />
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<inertia
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ixx="5.22359941041901E-05"
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ixy="3.0391535852764E-07"
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ixz="3.88322215371643E-07"
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iyy="3.33473043513648E-05"
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iyz="-7.77555280794861E-07"
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izz="2.28342677422006E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
|
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<mesh
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||||
filename="meshes/hand_base_link.STL" />
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||||
</geometry>
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<material name="silver"/>
|
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</visual>
|
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
|
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<mesh
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||||
filename="meshes/hand_base_link.STL" />
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||||
</geometry>
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||||
</collision>
|
||||
</link>
|
||||
<link
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||||
name="rh_thumb_metacarpals_base2">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00162795738393507 0.00276671978336815 -0.00184227725602707"
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rpy="0 0 0" />
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<mass
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value="0.00138591070212997" />
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<inertia
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ixx="5.26294625624223E-08"
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ixy="-3.9288013799604E-09"
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ixz="2.43766268199571E-09"
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iyy="4.82623724532942E-08"
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iyz="3.71867754115443E-09"
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izz="2.88555522060562E-08" />
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||||
</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
|
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<mesh
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filename="meshes/thumb_metacarpals_base2.STL" />
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||||
</geometry>
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||||
<material name="BlackAccent"/>
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||||
</visual>
|
||||
<collision>
|
||||
<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
|
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<mesh
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||||
filename="meshes/thumb_metacarpals_base2.STL" />
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||||
</geometry>
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||||
</collision>
|
||||
</link>
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||||
<joint
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||||
name="rh_thumb_cmc_yaw"
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type="revolute">
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||||
<origin
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||||
xyz="0.011508 0.022975 0.032794"
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rpy="0 0 0" />
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||||
<parent
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||||
link="rh_hand_base_link" />
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||||
<child
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||||
link="rh_thumb_metacarpals_base2" />
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||||
<axis
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||||
xyz="0 0 -1" />
|
||||
<limit
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lower="0"
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upper="1.36"
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effort="100"
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||||
velocity="1" />
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||||
</joint>
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||||
<link
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||||
name="rh_thumb_metacarpals">
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||||
<inertial>
|
||||
<origin
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||||
xyz="4.24920612856275E-05 -1.67885666835232E-05 0.0228341522590467"
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rpy="0 0 0" />
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<mass
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value="0.0123381607727595" />
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<inertia
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||||
ixx="1.10292488693766E-06"
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ixy="-6.14241939151719E-10"
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ixz="1.14233108676795E-07"
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iyy="1.76757658485787E-06"
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iyz="-4.24576599367025E-10"
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izz="9.36348143657406E-07" />
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||||
</inertial>
|
||||
<visual>
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||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_metacarpals.STL" />
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||||
</geometry>
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||||
</collision>
|
||||
</link>
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||||
<joint
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||||
name="rh_thumb_cmc_pitch"
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type="revolute">
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||||
<origin
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||||
xyz="0.0061649 0.010678 -0.004891"
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||||
rpy="0 -1.1529 -2.0944" />
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||||
<parent
|
||||
link="rh_thumb_metacarpals_base2" />
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||||
<child
|
||||
link="rh_thumb_metacarpals" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
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||||
upper="0.58"
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||||
effort="100"
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||||
velocity="1" />
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||||
</joint>
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||||
<link
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||||
name="rh_thumb_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00413690727496815 -4.54842793429222E-07 0.0230097179163771"
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||||
rpy="0 0 0" />
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<mass
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value="0.00763302603723749" />
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||||
<inertia
|
||||
ixx="1.30546842791578E-06"
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||||
ixy="-2.61617511029467E-12"
|
||||
ixz="7.19030685242407E-08"
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||||
iyy="1.22457212713176E-06"
|
||||
iyz="1.66931068485225E-11"
|
||||
izz="2.7729897944409E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_distal.STL" />
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||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_distal.STL" />
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||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
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||||
name="rh_thumb_ip"
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||||
type="revolute">
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||||
<origin
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||||
xyz="0.0037776 0 0.045368"
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||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_thumb_metacarpals" />
|
||||
<child
|
||||
link="rh_thumb_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.08"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
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||||
joint="rh_thumb_cmc_pitch"
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||||
multiplier="1.86"
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||||
offset="0" />
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||||
</joint>
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||||
<link
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||||
name="rh_index_proximal">
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||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208665596033792 -4.8964990644329E-06 0.0172736718900068"
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rpy="0 0 0" />
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||||
<mass
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value="0.00253178529301663" />
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||||
<inertia
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||||
ixx="2.65990159539482E-07"
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ixy="-3.55165625722842E-11"
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ixz="4.31046335852167E-08"
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iyy="2.72915460277804E-07"
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iyz="1.75935978708959E-10"
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izz="8.56026306687528E-08" />
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||||
</inertial>
|
||||
<visual>
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<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_proximal.STL" />
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||||
</geometry>
|
||||
</collision>
|
||||
</link>
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||||
<joint
|
||||
name="rh_index_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0024758 0.02419 0.098779"
|
||||
rpy="-0.05236 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_index_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.60"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_index_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940011630532 -4.59976557022623E-06 0.0194434136420913"
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rpy="0 0 0" />
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<mass
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value="0.00376787129082313" />
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<inertia
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||||
ixx="3.22116619426455E-07"
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ixy="1.03152735699049E-11"
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||||
ixz="-1.14363506430985E-07"
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iyy="3.65131844686317E-07"
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iyz="-1.97263639269362E-10"
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izz="1.24256890612907E-07" />
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||||
</inertial>
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||||
<visual>
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||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
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||||
<mesh
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||||
filename="meshes/index_distal.STL" />
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||||
</geometry>
|
||||
<material name="silver"/>
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||||
</visual>
|
||||
<collision>
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||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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||||
<mesh
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||||
filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_index_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_index_proximal" />
|
||||
<child
|
||||
link="rh_index_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_index_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_middle_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208661081773556 -4.93451838476378E-06 0.0172736805321904"
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rpy="0 0 0" />
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<mass
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value="0.00253175497594429" />
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||||
<inertia
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||||
ixx="2.65989683690695E-07"
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||||
ixy="-3.58343951791586E-11"
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ixz="4.31048601085216E-08"
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iyy="2.72915006047006E-07"
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||||
iyz="1.75718024412593E-10"
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||||
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||||
</inertial>
|
||||
<visual>
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||||
<origin
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||||
xyz="0 0 0"
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||||
rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
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||||
<material name="silver"/>
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||||
</visual>
|
||||
<collision>
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||||
<origin
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||||
xyz="0 0 0"
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||||
rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_middle_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.00052576 0.00634 0.1027"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_middle_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.60"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_middle_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940304809306 -4.5885743593238E-06 0.0194434523296449"
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||||
rpy="0 0 0" />
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||||
<mass
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value="0.00376786259758948" />
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||||
<inertia
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||||
ixx="3.221153658306E-07"
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||||
ixy="1.02639617308432E-11"
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||||
ixz="-1.14363547272711E-07"
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||||
iyy="3.65130723083104E-07"
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||||
iyz="-1.96904618797577E-10"
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||||
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||||
</inertial>
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||||
<visual>
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||||
<origin
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||||
xyz="0 0 0"
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||||
rpy="0 0 0" />
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||||
<geometry>
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||||
<mesh
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||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
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||||
<material name="silver"/>
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||||
</visual>
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||||
<collision>
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||||
<origin
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||||
xyz="0 0 0"
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||||
rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_middle_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_middle_proximal" />
|
||||
<child
|
||||
link="rh_middle_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_middle_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_ring_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208654311325356 -4.98538564003281E-06 0.0172736743497407"
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||||
rpy="0 0 0" />
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||||
<mass
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value="0.00253170963529411" />
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||||
<inertia
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||||
ixx="2.6598913795678E-07"
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||||
ixy="-3.62757108675266E-11"
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||||
ixz="4.31050611555507E-08"
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||||
iyy="2.72914417061517E-07"
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||||
iyz="1.75554984053478E-10"
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||||
izz="8.56012458677515E-08" />
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||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
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||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_ring_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0010258 -0.011135 0.098767"
|
||||
rpy="0.05236 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_ring_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.60"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_ring_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940273069729 -4.56628863591824E-06 0.0194435005686854"
|
||||
rpy="0 0 0" />
|
||||
<mass
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||||
value="0.0037678395356105" />
|
||||
<inertia
|
||||
ixx="3.22112632437858E-07"
|
||||
ixy="1.01848408913558E-11"
|
||||
ixz="-1.1436348915342E-07"
|
||||
iyy="3.65128262095686E-07"
|
||||
iyz="-1.96145632992445E-10"
|
||||
izz="1.24256284608064E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_ring_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_ring_proximal" />
|
||||
<child
|
||||
link="rh_ring_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_ring_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_pinky_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208649034130813 -5.02314582560837E-06 0.0172736680793697"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00253167400540778" />
|
||||
<inertia
|
||||
ixx="2.65988718820404E-07"
|
||||
ixy="-3.66012295280295E-11"
|
||||
ixz="4.31052220484445E-08"
|
||||
iyy="2.72913936904813E-07"
|
||||
iyz="1.75447396222308E-10"
|
||||
izz="8.56006424720129E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_pinky_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0024758 -0.028372 0.092741"
|
||||
rpy="0.087266 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_pinky_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.60"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_pinky_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940431519205 -4.55268314210333E-06 0.0194435341098305"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00376782669873412" />
|
||||
<inertia
|
||||
ixx="3.22111112339498E-07"
|
||||
ixy="1.01707985908333E-11"
|
||||
ixz="-1.14363524419061E-07"
|
||||
iyy="3.65126916899176E-07"
|
||||
iyz="-1.95589215866356E-10"
|
||||
izz="1.24256004854426E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_pinky_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_pinky_proximal" />
|
||||
<child
|
||||
link="rh_pinky_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_pinky_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
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Reference in New Issue
Block a user