init

src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/ReadMe.md

@@ -0,0 +1,19 @@
+## v1.0.0.1 update，更新日期2025-03-31
+1. 调整linker_hand_l10_left拇指旋转角不当的问题，子版本号变更为1.0.0.1
+2. 调整linker_hand_l10_left无名指偏航角的大小，子版本号变更为1.0.0.2
+3. 调整linker_hand_l10_left小指偏航角的大小，子版本号变更为1.0.0.3
+4. linker_hand_l10_right的拇指旋转角处于异常状态，需结构重新设定，版本封存
+5. 调整linker_hand_l20_right拇指旋转角不当的问题，子版本号变更为1.0.0.1
+6. 调整linker_hand_l20_right拇指偏航角不当的问题，子版本号变更为1.0.0.2
+7. 调整linker_hand_t25_left四指横滚角不当的问题，子版本号变更为1.0.0.1
+
+## v1.0.0.0 create
+1. 版本创建
+2. 添加linker_hand_l10_left，版本号v1.6.7995.38578
+3. 添加linker_hand_l10_right，版本号v1.0.0
+4. 添加linker_hand_l20_left，版本号v1.0.0
+5. 添加linker_hand_l20_right，版本号v1.0.0
+6. 添加linker_hand_t25_left，版本号v1.0.0
+7. 添加linker_hand_t25_right，版本号v1.0.0
+8. 添加linker_hand_o7_left，版本号v1.0.0
+9. 添加linker_hand_o7_right，版本号v1.0.0

src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_left/linkerhand_l25_left.urdf

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+linkerhand_g20_left.urdf

src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/g20_right/linkerhand_l25_right.urdf

@@ -0,0 +1 @@
+linkerhand_g20_right.urdf

src/linkerhand_retarget/linkerhand_retarget/assets/robots/hands/linker_hand/l10v6_left/linkerhand_l10v6_left.urdf

@@ -0,0 +1,615 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="linkerhand_l10v6_left">
+  <link name="hand_base_link">
+    <inertial>
+      <origin xyz="-0.00286158285153781 0.00291722319245657 0.0777013185993096" rpy="0 0 0" />
+      <mass value="0.3355217742994084" />
+      <inertia ixx="0.0006034278696208162" ixy="2.5945458100222196e-06" ixz="2.583441595747084e-06" iyy="0.0004288896033965287" iyz="1.1495620293769087e-05" izz="0.0002310010108567624" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_metacarpals_base1">
+    <inertial>
+      <origin xyz="0.0219046715712375 -9.48626705771921E-06 -0.00324883167123877" rpy="0 0 0" />
+      <mass value="0.043216860012087376" />
+      <inertia ixx="1.1574645797577225e-05" ixy="-8.984136000835386e-09" ixz="-1.1766027948925875e-06" iyy="1.6390111626656588e-05" iyz="-4.0710607121916e-09" izz="7.337029980989325e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_cmc_roll" type="revolute">
+    <origin xyz="-0.016657 -0.018426 0.057469" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="thumb_metacarpals_base1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-0.785" upper="0.785" effort="12" velocity="2.6" />
+  </joint>
+  <link name="thumb_metacarpals_base2">
+    <inertial>
+      <origin xyz="0.000798672868012509 -0.00104864337053465 -0.00114043413265499" rpy="0 0 0" />
+      <mass value="0.072754681016976" />
+      <inertia ixx="1.1663371590420262e-05" ixy="-2.6262973173372636e-06" ixz="1.2971095218936713e-07" iyy="9.126098693266464e-06" iyz="-2.0838721326869587e-07" izz="1.0413442973952338e-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_cmc_yaw" type="revolute">
+    <origin xyz="0.028875 0 0.0020117" rpy="0 0 0" />
+    <parent link="thumb_metacarpals_base1" />
+    <child link="thumb_metacarpals_base2" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+  </joint>
+  <link name="thumb_metacarpals">
+    <inertial>
+      <origin xyz="0.00175928374897715 -2.63724449372782E-05 0.0251802708036677" rpy="0 0 0" />
+      <mass value="0.06657094876365299" />
+      <inertia ixx="1.1160759345219712e-05" ixy="6.584642775411337e-10" ixz="-3.3307729548558715e-07" iyy="1.5079484426430938e-05" iyz="1.92880275356271e-09" izz="6.067229952497625e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_cmc_pitch" type="revolute">
+    <origin xyz="0.015415 -0.024336 -0.0034929" rpy="0 -1.1075 2.1313" />
+    <parent link="thumb_metacarpals_base2" />
+    <child link="thumb_metacarpals" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="0.5285" effort="12" velocity="2.6" />
+  </joint>
+  <link name="thumb_proximal">
+    <inertial>
+      <origin xyz="-0.000134514693928799 -2.62245243557585E-05 0.0155657254015052" rpy="0 0 0" />
+      <mass value="0.01958692569086711" />
+      <inertia ixx="3.4697725304988824e-06" ixy="-3.327267347721967e-11" ixz="-4.1853839437128e-07" iyy="3.0873336668433674e-06" iyz="1.54924719843834e-10" izz="1.5346507241899612e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_mcp" type="revolute">
+    <origin xyz="0.0049422 -7E-05 0.050268" rpy="0 0 0" />
+    <parent link="thumb_metacarpals" />
+    <child link="thumb_proximal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.186" effort="12" velocity="2.6" />
+    <mimic joint="thumb_cmc_pitch" multiplier="2.24" offset="0" />
+  </joint>
+  <link name="thumb_distal">
+    <inertial>
+      <origin xyz="-0.00128288196550677 -1.13361177393814E-05 0.012129617700597" rpy="0 0 0" />
+      <mass value="0.02247274403982049" />
+      <inertia ixx="1.331154618825e-06" ixy="-8.455169597234325e-10" ixz="-3.851470757664075e-07" iyy="1.3814467104262874e-06" iyz="-2.0836025487603863e-10" izz="1.0508245331573625e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_ip" type="revolute">
+    <origin xyz="-0.0040391 0 0.036444" rpy="0 0 0" />
+    <parent link="thumb_proximal" />
+    <child link="thumb_distal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.256" effort="12" velocity="2.6" />
+    <mimic joint="thumb_cmc_pitch" multiplier="2.24" offset="0" />
+  </joint>
+  <link name="index_metacarpals">
+    <inertial>
+      <origin xyz="-0.00187934702104134 -4.29029595737547E-06 0.0105055422549738" rpy="0 0 0" />
+      <mass value="0.016224861657086587" />
+      <inertia ixx="8.0558776707687e-07" ixy="1.8377983342295924e-09" ixz="-2.817580054008791e-08" iyy="1.2812078319531976e-06" iyz="1.69041309143604e-09" izz="1.1491271215581225e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_mcp_roll" type="revolute">
+    <origin xyz="-0.0021544 -0.02293 0.12973" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="index_metacarpals" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="0.2268" effort="12" velocity="2.6" />
+  </joint>
+  <link name="index_proximal">
+    <inertial>
+      <origin xyz="-0.00325185842631416 -9.13142378328041E-05 0.019519432098178" rpy="0 0 0" />
+      <mass value="0.011434388445128849" />
+      <inertia ixx="1.0145832356510137e-06" ixy="-1.2541097740821187e-09" ixz="-1.4945477444594324e-07" iyy="9.802611013521527e-07" iyz="-5.5655019976331626e-09" izz="5.3706714356802e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_mcp_pitch" type="revolute">
+    <origin xyz="0.0010315 -3.0579E-05 0.017575" rpy="0 0 0" />
+    <parent link="index_metacarpals" />
+    <child link="index_proximal" />
+    <axis xyz="0 1 0.0017399" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="index_middle">
+    <inertial>
+      <origin xyz="-0.0022016660809888 0.000323491615300016 0.0115249841516604" rpy="0 0 0" />
+      <mass value="0.012218483381070486" />
+      <inertia ixx="1.0683874793410237e-06" ixy="7.461942934849201e-09" ixz="-1.6732585065956776e-07" iyy="9.760136772745162e-07" iyz="-1.8556885538097564e-08" izz="4.997142729361838e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_pip" type="revolute">
+    <origin xyz="-0.0033727 -5.8304E-05 0.033509" rpy="0 0 0" />
+    <parent link="index_proximal" />
+    <child link="index_middle" />
+    <axis xyz="0 1 0.0017399" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="index_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="index_distal">
+    <inertial>
+      <origin xyz="0.000205178160330333 2.97745761116885E-05 0.0116641281851965" rpy="0 0 0" />
+      <mass value="0.014509336799106001" />
+      <inertia ixx="7.991034257248725e-07" ixy="1.9464314592614288e-09" ixz="-1.6209871504956675e-07" iyy="7.765077151425788e-07" iyz="-1.1850354848977276e-08" izz="4.5115066690793625e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_dip" type="revolute">
+    <origin xyz="-0.0050438 -4.4805E-05 0.025751" rpy="0 0 0" />
+    <parent link="index_middle" />
+    <child link="index_distal" />
+    <axis xyz="0 1 0.0017399" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="index_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+  <link name="middle_proximal">
+    <inertial>
+      <origin xyz="-0.00325186288011926 -5.73454604718832E-05 0.0195195889004557" rpy="0 0 0" />
+      <mass value="0.01143437156151015" />
+      <inertia ixx="1.0145776920273975e-06" ixy="-1.51391940486027e-09" ixz="-1.4945172673068563e-07" iyy="9.802739948415826e-07" iyz="-4.79580838155705e-09" izz="5.370488365697888e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_mcp_pitch" type="revolute">
+    <origin xyz="-0.0031229 -0.0039297 0.1523" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="middle_proximal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="middle_middle">
+    <inertial>
+      <origin xyz="-0.00220166609150478 0.000343543558963093 0.0115244040473821" rpy="0 0 0" />
+      <mass value="0.012218483571112725" />
+      <inertia ixx="1.068387495358361e-06" ixy="7.170795464411775e-09" ixz="-1.6733858218132874e-07" iyy="9.760768097219475e-07" iyz="-1.7728053600423598e-08" izz="4.996511408980763e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_pip" type="revolute">
+    <origin xyz="-0.0033727 0 0.03351" rpy="0 0 0" />
+    <parent link="middle_proximal" />
+    <child link="middle_middle" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="middle_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="middle_distal">
+    <inertial>
+      <origin xyz="0.000205178002779471 5.00684870747489E-05 0.0116640595818044" rpy="0 0 0" />
+      <mass value="0.014509336060454212" />
+      <inertia ixx="7.99103494186095e-07" ixy="1.6644075854798023e-09" ixz="-1.62101880036297e-07" iyy="7.765480201542825e-07" iyz="-1.1284283654957438e-08" izz="4.511104435724625e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_dip" type="revolute">
+    <origin xyz="-0.0050438 0 0.025752" rpy="0 0 0" />
+    <parent link="middle_middle" />
+    <child link="middle_distal" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="middle_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+  <link name="ring_metacarpals">
+    <inertial>
+      <origin xyz="-0.00187934628453409 6.28915481682354E-05 0.01050535483118" rpy="0 0 0" />
+      <mass value="0.016224861826704375" />
+      <inertia ixx="8.0558777445087e-07" ixy="1.6576144109981775e-09" ixz="-2.818699813825459e-08" iyy="1.2811809055950375e-06" iyz="2.5348853775173285e-09" izz="1.149154228484606e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_mcp_roll" type="revolute">
+    <origin xyz="-0.0021544 0.01507 0.12973" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="ring_metacarpals" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.2093" upper="0" effort="12" velocity="2.6" />
+  </joint>
+  <link name="ring_proximal">
+    <inertial>
+      <origin xyz="-0.00325187412247893 3.35367654908103E-05 0.0195197185420488" rpy="0 0 0" />
+      <mass value="0.011434328218145325" />
+      <inertia ixx="1.0145627036440988e-06" ixy="-2.208986407970441e-09" ixz="-1.4944134457087498e-07" iyy="9.802951610013824e-07" iyz="-2.7363971232884886e-09" izz="5.370130646189587e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_mcp_pitch" type="revolute">
+    <origin xyz="0.0010315 8.1812E-05 0.017575" rpy="0 0 0" />
+    <parent link="ring_metacarpals" />
+    <child link="ring_proximal" />
+    <axis xyz="0 0.99999 0.004655" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="ring_middle">
+    <inertial>
+      <origin xyz="-0.00220166566802396 0.0003971864509561 0.0115226809862077" rpy="0 0 0" />
+      <mass value="0.012218485156099463" />
+      <inertia ixx="1.0683875734537313e-06" ixy="6.3917456478722626e-09" ixz="-1.6737017512398825e-07" iyy="9.76231589018535e-07" iyz="-1.550953559747006e-08" izz="4.994964896570513e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_pip" type="revolute">
+    <origin xyz="-0.0033727 0.00015599 0.033509" rpy="0 0 0" />
+    <parent link="ring_proximal" />
+    <child link="ring_middle" />
+    <axis xyz="0 0.99999 -0.004655" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="ring_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="ring_distal">
+    <inertial>
+      <origin xyz="0.00020517760398206 0.000104362588540907 0.0116637013134471" rpy="0 0 0" />
+      <mass value="0.014509335448655588" />
+      <inertia ixx="7.991035897706663e-07" ixy="9.099023825169151e-10" ixz="-1.6210769709474564e-07" iyy="7.766461271067113e-07" iyz="-9.769082387474625e-09" izz="4.5101234324468245e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_dip" type="revolute">
+    <origin xyz="-0.0050438 0.00011987 0.025751" rpy="0 0 0" />
+    <parent link="ring_middle" />
+    <child link="ring_distal" />
+    <axis xyz="0 0.99999 0.004655" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="ring_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+  <link name="pinky_metacarpals">
+    <inertial>
+      <origin xyz="-0.00187934584633366 9.14587641305045E-05 0.0105051449327144" rpy="0 0 0" />
+      <mass value="0.01622486185826846" />
+      <inertia ixx="8.055877760354588e-07" ixy="1.580978999260455e-09" ixz="-2.8191413006936475e-08" iyy="1.2811661928912075e-06" iyz="2.8938639760594312e-09" izz="1.1491690360812113e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_mcp_roll" type="revolute">
+    <origin xyz="-0.00015438 0.03407 0.12473" rpy="0 0 0" />
+    <parent link="hand_base_link" />
+    <child link="pinky_metacarpals" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.3663" upper="0" effort="12" velocity="2.6" />
+  </joint>
+  <link name="pinky_proximal">
+    <inertial>
+      <origin xyz="-0.00325188069079595 8.66277107426164E-05 0.0195195983618728" rpy="0 0 0" />
+      <mass value="0.011434302908387288" />
+      <inertia ixx="1.0145539577295488e-06" ixy="-2.6149926159884515e-09" ixz="-1.494337859823311e-07" iyy="9.802986867926886e-07" iyz="-1.5332940100896112e-09" izz="5.370010166208637e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_mcp_pitch" type="revolute">
+    <origin xyz="0.0010315 0.0001296 0.017575" rpy="0 0 0" />
+    <parent link="pinky_metacarpals" />
+    <child link="pinky_proximal" />
+    <axis xyz="0 0.99997 0.0073743" />
+    <limit lower="0" upper="1.325" effort="12" velocity="2.6" />
+  </joint>
+  <link name="pinky_middle">
+    <inertial>
+      <origin xyz="-0.00220166565850555 0.000428518931293857 0.0115215583189701" rpy="0 0 0" />
+      <mass value="0.012218485199683349" />
+      <inertia ixx="1.0683875758478289e-06" ixy="5.9365875265233376e-09" ixz="-1.6738693800481951e-07" iyy="9.763124152716262e-07" iyz="-1.4212912019423661e-08" izz="4.994156657049562e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_middle.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_pip" type="revolute">
+    <origin xyz="-0.0033727 0.00024711 0.033509" rpy="0 0 0" />
+    <parent link="pinky_proximal" />
+    <child link="pinky_middle" />
+    <axis xyz="0 0.99997 -0.0073743" />
+    <limit lower="0" upper="1.57" effort="12" velocity="2.6" />
+    <mimic joint="pinky_mcp_pitch" multiplier="1.18" offset="0" />
+  </joint>
+  <link name="pinky_distal">
+    <inertial>
+      <origin xyz="0.00020517666108498 0.00013607814642172 0.0116633786905161" rpy="0 0 0" />
+      <mass value="0.014509341713357138" />
+      <inertia ixx="7.991040144036225e-07" ixy="4.6910343585054e-10" ixz="-1.6210978417854824e-07" iyy="7.766972783161012e-07" iyz="-8.883595821726824e-09" izz="4.5096160321433253e-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_dip" type="revolute">
+    <origin xyz="-0.0050438 0.0001899 0.025751" rpy="0 0 0" />
+    <parent link="pinky_middle" />
+    <child link="pinky_distal" />
+    <axis xyz="0 0.99997 0.0073743" />
+    <limit lower="0" upper="1" effort="12" velocity="2.6" />
+    <mimic joint="pinky_mcp_pitch" multiplier="0.7493" offset="0" />
+  </joint>
+</robot>