原始urdf位置修改
This commit is contained in:
@@ -353,7 +353,6 @@ ros2 launch linkerhand_calibration \
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hand_type:=left \
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serial_number:=G20_LEFT_001 \
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camera_extrinsics_file:=/home/lxp/projects/linkerhand_retarget_ros2/config/g20_three_camera_extrinsics.yaml \
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source_urdf_path:=/home/lxp/projects/linkerhand_retarget_ros2/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/linkerhand_g20_left.urdf \
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commands_enabled:=false
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```
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@@ -376,11 +375,12 @@ ros2 launch linkerhand_calibration \
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hand_type:=left \
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serial_number:=G20_LEFT_001 \
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camera_extrinsics_file:=/home/lxp/projects/linkerhand_retarget_ros2/config/g20_three_camera_extrinsics.yaml \
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source_urdf_path:=/home/lxp/projects/linkerhand_retarget_ros2/src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/linkerhand_g20_left.urdf \
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can_interface:=can0
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```
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右手使用同一入口；默认自动选择右手SDK话题和原始URDF：
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原始URDF及其mesh随`linkerhand_calibration`安装，默认根据`hand_type`自动选择。
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如需调试其他CAD版本，仍可通过`source_urdf_path:=<绝对路径>`显式覆盖。
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右手使用同一入口，并自动选择右手SDK话题和原始URDF：
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```bash
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ros2 launch linkerhand_calibration \
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@@ -21,7 +21,7 @@ cameras:
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camera_info: ~/.ros/camera_info/hikrobot_DB2163739.yaml
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artifacts:
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source_urdf: src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/linkerhand_g20_right.urdf
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source_urdf: package://linkerhand_calibration/urdf/g20_right/linkerhand_g20_right.urdf
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source_urdf_sha256: eeb6ffb0e95d2a6acd4c26331ae68062e0d74160de4b552b4f6d395cce5ca4e8
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camera_extrinsics: config/g20_three_camera_extrinsics.yaml
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camera_extrinsics_sha256: dd623572df3cb83fdefcbe92204dab54a60f2c68eb3a8c9bdb08407e8f0e5d80
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@@ -27,15 +27,20 @@ VIEWS = ("front", "side", "top")
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def _default_source_urdf(hand_type: str) -> Path:
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relative = Path(
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"assets/robots/hands/linker_hand"
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) / f"g20_{hand_type}" / f"linkerhand_g20_{hand_type}.urdf"
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workspace = Path.cwd() / "src/linkerhand_retarget/linkerhand_retarget" / relative
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relative = (
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Path("urdf")
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/ f"g20_{hand_type}"
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/ f"linkerhand_g20_{hand_type}.urdf"
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)
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package_source_or_share = Path(__file__).resolve().parents[1] / relative
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try:
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installed = Path(get_package_share_directory("linkerhand_retarget")) / relative
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installed = (
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Path(get_package_share_directory("linkerhand_calibration"))
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/ relative
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)
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except Exception:
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installed = workspace
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return workspace if workspace.is_file() else installed
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installed = package_source_or_share
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return installed if installed.is_file() else package_source_or_share
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def _launch_stack(context):
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@@ -9,15 +9,38 @@ _LEGACY_SOURCE_PREFIX = Path("src/g20_thumb_apriltag_calibration")
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_CURRENT_SOURCE_PREFIX = Path("src/linkerhand_calibration")
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def _resolve_package_uri(value: str, workspace: Path) -> Path | None:
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prefix = "package://"
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if not value.startswith(prefix):
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return None
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package_name, separator, relative = value[len(prefix) :].partition("/")
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if not separator or not package_name or not relative:
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raise ValueError(f"invalid ROS package resource path: {value}")
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workspace_candidate = (workspace / "src" / package_name / relative).resolve()
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if workspace_candidate.exists():
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return workspace_candidate
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try:
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from ament_index_python.packages import get_package_share_directory
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package_share = Path(get_package_share_directory(package_name))
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except Exception:
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return workspace_candidate
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return (package_share / relative).resolve()
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def resolve_renamed_package_path(value: str | Path, workspace: Path) -> Path:
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"""Resolve a path and remap only the former source-package prefix.
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"""Resolve workspace paths, ROS package resources and the former prefix.
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Deployed v1 product YAML files are kept byte-for-byte stable because the
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artifact paths participate in operational review. Existing paths always
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win; the rename mapping is used only when the literal legacy path no
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longer exists.
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win; package URIs prefer a source-workspace copy, and the rename mapping
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is used only when the literal legacy path no longer exists.
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"""
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raw = Path(value).expanduser()
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text = str(value).strip()
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package_resource = _resolve_package_uri(text, workspace)
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if package_resource is not None:
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return package_resource
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raw = Path(text).expanduser()
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candidate = raw if raw.is_absolute() else workspace / raw
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candidate = candidate.resolve()
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if candidate.exists() or raw.is_absolute():
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@@ -1,10 +1,31 @@
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from glob import glob
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from pathlib import Path
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from setuptools import find_packages, setup
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package_name = "linkerhand_calibration"
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def package_data_tree(root: str) -> list[tuple[str, list[str]]]:
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"""Install a resource tree without flattening relative mesh paths."""
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root_path = Path(root)
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directories = [
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root_path,
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*sorted(path for path in root_path.rglob("*") if path.is_dir()),
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]
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result = []
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for directory in directories:
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files = sorted(
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str(path) for path in directory.iterdir() if path.is_file()
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)
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if files:
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result.append(
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(str(Path("share") / package_name / directory), files)
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)
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return result
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setup(
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name=package_name,
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version="0.1.0",
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@@ -20,7 +41,7 @@ setup(
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glob("config/*.yaml") + glob("config/*.xml"),
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),
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("share/" + package_name + "/launch", glob("launch/*.launch.py")),
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],
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] + package_data_tree("urdf"),
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install_requires=["setuptools", "numpy", "scipy", "PyYAML"],
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tests_require=["pytest"],
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zip_safe=True,
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@@ -7,6 +7,24 @@ import yaml
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PACKAGE_ROOT = Path(__file__).resolve().parents[1]
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def test_package_owns_both_g20_source_urdfs_and_their_meshes() -> None:
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for side in ("left", "right"):
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urdf = (
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PACKAGE_ROOT
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/ "urdf"
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/ f"g20_{side}"
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/ f"linkerhand_g20_{side}.urdf"
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)
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assert urdf.is_file()
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root = ElementTree.parse(urdf).getroot()
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mesh_paths = {
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mesh.attrib["filename"] for mesh in root.findall(".//mesh")
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}
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assert mesh_paths
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assert all(not Path(path).is_absolute() for path in mesh_paths)
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assert all((urdf.parent / path).is_file() for path in mesh_paths)
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def test_fastdds_profile_has_capacity_for_full_resolution_images() -> None:
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root = ElementTree.parse(
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PACKAGE_ROOT / "config" / "fastdds_large_images.xml"
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@@ -53,9 +53,8 @@ def test_runtime_fit_saturates_at_source_urdf_limit() -> None:
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)
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bounded = clamp_runtime_fits_to_urdf_limits(
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Path(__file__).resolve().parents[3]
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/ "src/linkerhand_retarget/linkerhand_retarget/assets/robots/"
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"hands/linker_hand/g20_right/linkerhand_g20_right.urdf",
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Path(__file__).resolve().parents[1]
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/ "urdf/g20_right/linkerhand_g20_right.urdf",
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{"thumb_cmc_yaw": fit},
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)["thumb_cmc_yaw"]
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@@ -154,9 +153,8 @@ def test_right_19_keeps_four_visual_dip_curves_independent() -> None:
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{"visual_measurement": 1.0},
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)
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source_urdf = (
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Path(__file__).resolve().parents[3]
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/ "src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/"
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"linker_hand/g20_right/linkerhand_g20_right.urdf"
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Path(__file__).resolve().parents[1]
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/ "urdf/g20_right/linkerhand_g20_right.urdf"
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)
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runtime = derive_mimic_passive_fits(
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@@ -213,6 +213,10 @@ def test_product_config_locks_three_cameras_tags_and_artifact_hashes() -> None:
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assert set(config.cameras) == {"front", "side", "top"}
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assert len({camera["serial_number"] for camera in config.cameras.values()}) == 3
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assert config.source_urdf.is_file()
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assert config.source_urdf == (
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REPO
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/ "src/linkerhand_calibration/urdf/g20_right/linkerhand_g20_right.urdf"
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)
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assert config.camera_extrinsics.is_file()
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assert config.calibration_config == (
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REPO
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@@ -5,6 +5,8 @@ import sys
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import pytest
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from linkerhand_calibration.compat import resolve_renamed_package_path
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def test_legacy_python_package_forwards_only_public_config_api() -> None:
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with pytest.warns(DeprecationWarning, match="linkerhand_calibration"):
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@@ -36,3 +38,19 @@ def test_new_and_legacy_executable_names_share_one_implementation() -> None:
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"linkerhand_calibration.runtime.nodes.calibration:main"
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in setup_text
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)
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def test_package_resource_uri_resolves_to_the_workspace_copy() -> None:
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repository = Path(__file__).resolve().parents[3]
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expected = (
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repository
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/ "src/linkerhand_calibration/urdf/g20_right/linkerhand_g20_right.urdf"
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)
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resolved = resolve_renamed_package_path(
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"package://linkerhand_calibration/urdf/g20_right/"
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"linkerhand_g20_right.urdf",
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repository,
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)
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assert resolved == expected
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@@ -46,14 +46,12 @@ from linkerhand_calibration.full_hand import (
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)
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REPOSITORY = Path(__file__).resolve().parents[3]
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SOURCE_URDF = REPOSITORY / (
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"src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/"
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"linker_hand/g20_left/linkerhand_g20_left.urdf"
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PACKAGE_ROOT = Path(__file__).resolve().parents[1]
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SOURCE_URDF = PACKAGE_ROOT / (
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"urdf/g20_left/linkerhand_g20_left.urdf"
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)
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RIGHT_SOURCE_URDF = REPOSITORY / (
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"src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/"
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"linker_hand/g20_right/linkerhand_g20_right.urdf"
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RIGHT_SOURCE_URDF = PACKAGE_ROOT / (
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"urdf/g20_right/linkerhand_g20_right.urdf"
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)
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@@ -0,0 +1,953 @@
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<?xml version="1.0" encoding="utf-8"?>
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<robot
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name="linkerhand_l6v3.1_right">
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<!-- 手掌基座，作为整只手的根链接 -->
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<link
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name="rh_hand_base_link">
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<inertial>
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<origin
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xyz="0.0019900000 0.0009100000 0.0583810000"
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rpy="0 0 0" />
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<mass
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value="0.4185" />
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<inertia
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ixx="0.0004998"
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ixy="-1.2853e-05"
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ixz="-8.317e-06"
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iyy="0.0003567"
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iyz="-1.0354e-05"
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izz="0.0002301" />
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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
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name="">
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<color
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rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
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</material>
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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>
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</link>
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<link
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name="rh_thumb_metacarpals_base1">
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<inertial>
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<origin
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xyz="0.0018663000 0.0066406000 0.0015330000"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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<inertia
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ixx="3.3724e-07"
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ixy="-1.11e-07"
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ixz="-3.6039e-08"
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iyy="2.9457e-07"
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iyz="-5.7181e-08"
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izz="4.903e-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/thumb_metacarpals_base1.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
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</material>
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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/thumb_metacarpals_base1.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="rh_thumb_cmc_roll"
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type="revolute">
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<origin
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xyz="0.0078133 0.030812 0.025678"
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rpy="-0.034907 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_base1" />
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<axis
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xyz="0 0.034899 -0.99939" />
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<limit
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lower="-0.087266"
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upper="1.256637"
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effort="0.588"
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velocity="5.95" />
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<dynamics damping="0.02" friction="0.05416667"/>
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</joint>
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<link
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name="rh_thumb_metacarpals">
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<inertial>
|
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<origin
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xyz="0.0076927091 -0.0859662185 0.0235283087"
|
||||
rpy="0 0 0" />
|
||||
<mass
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||||
value="0.065" />
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||||
<inertia
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||||
ixx="8.407e-06"
|
||||
ixy="1.1338e-09"
|
||||
ixz="1.1136e-08"
|
||||
iyy="8.3899e-06"
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||||
iyz="-3.1171e-07"
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||||
izz="2.0091e-06" />
|
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</inertial>
|
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<visual>
|
||||
<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.STL" />
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||||
</geometry>
|
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<material
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||||
name="">
|
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<color
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rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
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</visual>
|
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<collision>
|
||||
<origin
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xyz="0 0 0"
|
||||
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>
|
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</link>
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<joint
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name="rh_thumb_cmc_pitch"
|
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type="revolute">
|
||||
<origin
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||||
xyz="0.0054997 0.013314 0.0032166"
|
||||
rpy="-1.0762 0.013637 -0.40121" />
|
||||
<parent
|
||||
link="rh_thumb_metacarpals_base1" />
|
||||
<child
|
||||
link="rh_thumb_metacarpals" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0.837758"
|
||||
effort="1.008"
|
||||
velocity="3.47" />
|
||||
<dynamics damping="0.02" friction="0.0375"/>
|
||||
</joint>
|
||||
<link
|
||||
name="rh_thumb_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0076927091 -0.0798662185 -0.0591716913"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.018" />
|
||||
<inertia
|
||||
ixx="1.5546e-06"
|
||||
ixy="-2.4423e-09"
|
||||
ixz="2.8147e-09"
|
||||
iyy="1.7108e-06"
|
||||
iyz="7.2756e-08"
|
||||
izz="9.1709e-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_distal.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="rh_thumb_tip">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1e-06" />
|
||||
<inertia
|
||||
ixx="1e-09"
|
||||
ixy="0"
|
||||
ixz="0"
|
||||
iyy="1e-09"
|
||||
iyz="0"
|
||||
izz="1e-09" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_thumb_tip_fixed"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 -0.0035 0.026"
|
||||
rpy="0 0 -1.5708" />
|
||||
<parent
|
||||
link="rh_thumb_distal" />
|
||||
<child
|
||||
link="rh_thumb_tip" />
|
||||
</joint>
|
||||
<joint
|
||||
name="rh_thumb_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 -0.0061 0.0827"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_thumb_metacarpals" />
|
||||
<child
|
||||
link="rh_thumb_distal" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0.963287"
|
||||
effort="0"
|
||||
velocity="1.7" />
|
||||
<mimic
|
||||
joint="rh_thumb_cmc_pitch"
|
||||
multiplier="1.226495"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_index_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0017760000 0.0001100000 0.0125560000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.008553" />
|
||||
<inertia
|
||||
ixx="7.97543e-07"
|
||||
ixy="1.275e-09"
|
||||
ixz="1.38601e-07"
|
||||
iyy="8.00499e-07"
|
||||
iyz="-9.39e-10"
|
||||
izz="3.57001e-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_proximal.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
||||
<color
|
||||
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_index_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.00066821 0.033467 0.11622"
|
||||
rpy="-0.087266 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_index_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.134464"
|
||||
effort="0.574"
|
||||
velocity="6.10" />
|
||||
<dynamics damping="0.01" friction="0.04"/>
|
||||
</joint>
|
||||
<link
|
||||
name="rh_index_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0134000000 -0.0022620000 0.0169920000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.018408" />
|
||||
<inertia
|
||||
ixx="2.488712e-06"
|
||||
ixy="-8.249e-09"
|
||||
ixz="-1.523059e-06"
|
||||
iyy="3.723754e-06"
|
||||
iyz="-1.4019e-08"
|
||||
izz="1.813582e-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="rh_index_tip">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1e-06" />
|
||||
<inertia
|
||||
ixx="1e-09"
|
||||
ixy="0"
|
||||
ixz="0"
|
||||
iyy="1e-09"
|
||||
iyz="0"
|
||||
izz="1e-09" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_index_tip_fixed"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.0341 0 0.034"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_index_distal" />
|
||||
<child
|
||||
link="rh_index_tip" />
|
||||
</joint>
|
||||
<joint
|
||||
name="rh_index_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0009359 0 0.028002"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_index_proximal" />
|
||||
<child
|
||||
link="rh_index_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.277039"
|
||||
effort="0"
|
||||
velocity="3.1" />
|
||||
<mimic
|
||||
joint="rh_index_mcp_pitch"
|
||||
multiplier="1.125676"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_middle_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0017760000 0.0001100000 0.0125560000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.008553" />
|
||||
<inertia
|
||||
ixx="7.97543e-07"
|
||||
ixy="1.275e-09"
|
||||
ixz="1.38601e-07"
|
||||
iyy="8.00499e-07"
|
||||
iyz="-9.39e-10"
|
||||
izz="3.57001e-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_middle_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.00066821 0.0134013 0.12272"
|
||||
rpy="-0.034907 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_middle_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.134464"
|
||||
effort="0.574"
|
||||
velocity="6.10" />
|
||||
<dynamics damping="0.01" friction="0.02708333"/>
|
||||
</joint>
|
||||
<link
|
||||
name="rh_middle_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0134000000 -0.0022620000 0.0169920000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.018408" />
|
||||
<inertia
|
||||
ixx="2.488712e-06"
|
||||
ixy="-8.249e-09"
|
||||
ixz="-1.523059e-06"
|
||||
iyy="3.723754e-06"
|
||||
iyz="-1.4019e-08"
|
||||
izz="1.813582e-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="rh_middle_tip">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1e-06" />
|
||||
<inertia
|
||||
ixx="1e-09"
|
||||
ixy="0"
|
||||
ixz="0"
|
||||
iyy="1e-09"
|
||||
iyz="0"
|
||||
izz="1e-09" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_middle_tip_fixed"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.0341 0 0.034"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_middle_distal" />
|
||||
<child
|
||||
link="rh_middle_tip" />
|
||||
</joint>
|
||||
<joint
|
||||
name="rh_middle_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0009359 0 0.028002"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_middle_proximal" />
|
||||
<child
|
||||
link="rh_middle_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.277039"
|
||||
effort="0"
|
||||
velocity="3.1" />
|
||||
<mimic
|
||||
joint="rh_middle_mcp_pitch"
|
||||
multiplier="1.125676"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_ring_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0017760000 0.0001100000 0.0125560000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.008553" />
|
||||
<inertia
|
||||
ixx="7.97543e-07"
|
||||
ixy="1.275e-09"
|
||||
ixz="1.38601e-07"
|
||||
iyy="8.00499e-07"
|
||||
iyz="-9.39e-10"
|
||||
izz="3.57001e-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
||||
</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="-0.00067368 -0.006217 0.11872"
|
||||
rpy="0.017453 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_ring_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.134464"
|
||||
effort="0.574"
|
||||
velocity="6.10" />
|
||||
<dynamics damping="0.01" friction="0.02291667"/>
|
||||
</joint>
|
||||
<link
|
||||
name="rh_ring_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0134000000 -0.0022620000 0.0169920000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.018408" />
|
||||
<inertia
|
||||
ixx="2.488712e-06"
|
||||
ixy="-8.249e-09"
|
||||
ixz="-1.523059e-06"
|
||||
iyy="3.723754e-06"
|
||||
iyz="-1.4019e-08"
|
||||
izz="1.813582e-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="rh_ring_tip">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1e-06" />
|
||||
<inertia
|
||||
ixx="1e-09"
|
||||
ixy="0"
|
||||
ixz="0"
|
||||
iyy="1e-09"
|
||||
iyz="0"
|
||||
izz="1e-09" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_ring_tip_fixed"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.0341 0 0.034"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_ring_distal" />
|
||||
<child
|
||||
link="rh_ring_tip" />
|
||||
</joint>
|
||||
<joint
|
||||
name="rh_ring_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0009359 0 0.028002"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_ring_proximal" />
|
||||
<child
|
||||
link="rh_ring_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.277039"
|
||||
effort="0"
|
||||
velocity="3.1" />
|
||||
<mimic
|
||||
joint="rh_ring_mcp_pitch"
|
||||
multiplier="1.125676"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_pinky_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0017760000 0.0001100000 0.0125560000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.008553" />
|
||||
<inertia
|
||||
ixx="7.97543e-07"
|
||||
ixy="1.275e-09"
|
||||
ixz="1.38601e-07"
|
||||
iyy="8.00499e-07"
|
||||
iyz="-9.39e-10"
|
||||
izz="3.57001e-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
||||
</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="-0.00067852 -0.025314 0.11474"
|
||||
rpy="0.05236 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_pinky_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.134464"
|
||||
effort="0.574"
|
||||
velocity="6.10" />
|
||||
<dynamics damping="0.01" friction="0.01"/>
|
||||
</joint>
|
||||
<link
|
||||
name="rh_pinky_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0134000000 -0.0022620000 0.0169920000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.018408" />
|
||||
<inertia
|
||||
ixx="2.488712e-06"
|
||||
ixy="-8.249e-09"
|
||||
ixz="-1.523059e-06"
|
||||
iyy="3.723754e-06"
|
||||
iyz="-1.4019e-08"
|
||||
izz="1.813582e-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="rh_pinky_tip">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1e-06" />
|
||||
<inertia
|
||||
ixx="1e-09"
|
||||
ixy="0"
|
||||
ixz="0"
|
||||
iyy="1e-09"
|
||||
iyz="0"
|
||||
izz="1e-09" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_pinky_tip_fixed"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.0341 0 0.034"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_pinky_distal" />
|
||||
<child
|
||||
link="rh_pinky_tip" />
|
||||
</joint>
|
||||
<joint
|
||||
name="rh_pinky_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0009359 0 0.028002"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_pinky_proximal" />
|
||||
<child
|
||||
link="rh_pinky_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.277039"
|
||||
effort="0"
|
||||
velocity="3.1" />
|
||||
<mimic
|
||||
joint="rh_pinky_mcp_pitch"
|
||||
multiplier="1.125676"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<transmission name="trans_thumb_cmc_roll">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="rh_thumb_cmc_roll">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_thumb_cmc_roll">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>0.0084</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_index_mcp_pitch">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="rh_index_mcp_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_index_mcp_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>0.0082</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_middle_mcp_pitch">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="rh_middle_mcp_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_middle_mcp_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>0.0082</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_ring_mcp_pitch">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="rh_ring_mcp_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_ring_mcp_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>0.0082</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_pinky_mcp_pitch">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="rh_pinky_mcp_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_pinky_mcp_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>0.0082</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="trans_thumb_cmc_pitch">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="rh_thumb_cmc_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor_thumb_cmc_pitch">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>0.0144</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<mujoco>
|
||||
<compiler meshdir="meshes/" balanceinertia="true" discardvisual="false"/>
|
||||
<default>
|
||||
<joint armature="3.4707e-08" damping="5.0" frictionloss="0.5"/>
|
||||
</default>
|
||||
<equality>
|
||||
<joint name="rh_couple_index" joint1="rh_index_dip" joint2="rh_index_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
|
||||
<joint name="rh_couple_middle" joint1="rh_middle_dip" joint2="rh_middle_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
|
||||
<joint name="rh_couple_ring" joint1="rh_ring_dip" joint2="rh_ring_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
|
||||
<joint name="rh_couple_pinky" joint1="rh_pinky_dip" joint2="rh_pinky_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
|
||||
<joint name="rh_couple_thumb" joint1="rh_thumb_dip" joint2="rh_thumb_cmc_pitch" polycoef="0 1.226495 0 0 0 0"/>
|
||||
</equality>
|
||||
</mujoco>
|
||||
<gazebo reference="rh_hand_base_link">
|
||||
<mu1>1.5</mu1>
|
||||
<mu2>1.5</mu2>
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="rh_thumb_distal">
|
||||
<mu1>1.5</mu1>
|
||||
<mu2>1.5</mu2>
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="rh_index_distal">
|
||||
<mu1>1.1</mu1>
|
||||
<mu2>1.1</mu2>
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="rh_middle_distal">
|
||||
<mu1>1.1</mu1>
|
||||
<mu2>1.1</mu2>
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="rh_ring_distal">
|
||||
<mu1>1.1</mu1>
|
||||
<mu2>1.1</mu2>
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="rh_pinky_distal">
|
||||
<mu1>1.1</mu1>
|
||||
<mu2>1.1</mu2>
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
</robot>
|
||||
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Reference in New Issue
Block a user