Update to 2026-09-17 pipeline snapshot; add weights, L20 assets and recording via Git LFS
Source: RGB-D -> Dyn-HaMR -> L20 retargeting -> FoundationPose -> reference repair -> SPIDER, documented in docs/PIPELINE_LATEST.md and docs/SETUP_AND_WEIGHTS.md. Adds FoundationPose and nvdiffrast upstream snapshots, requirements/pipeline_venv.txt and the FoundationPose weight manifest/downloader. Assets (Git LFS): weights/ (WiLoR detector, HandFlow denoiser, UniDepth-L), FoundationPose checkpoints, HaMeR checkpoint, Dyn-HaMR HMP model and BMC constraints, L20 URDF/meshes, the 20260915_171525 D405 recording and the two box CADs. MANO models are not redistributed (third_party/hamer/_DATA/data/mano/README.txt). Environments, caches and run outputs excluded. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
This commit is contained in:
liyang
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Copyright 2023 Ananye Agarwal
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
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These modifications included changes to the meshes and the URDF file itself.
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@@ -0,0 +1,812 @@
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|
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</link>
|
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<link name="pip_2">
|
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<visual>
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<geometry>
|
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<mesh filename="meshes/visual/pip.obj"/>
|
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</geometry>
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|
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<collision> <!-- pip -->
|
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<origin xyz="0.0075 -0.0002 -0.011" rpy="0 0 0"/>
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|
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|
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|
||||
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|
||||
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|
||||
<link name="dip_2">
|
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<visual>
|
||||
<origin xyz="0.0211 -0.0084 0.0097" rpy="-3.14159 0 0"/>
|
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<geometry>
|
||||
<mesh filename="meshes/visual/dip.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- dip -->
|
||||
<origin xyz="0 -0.02 0.015" rpy="0 0 0"/>
|
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<geometry>
|
||||
<box size="0.016 0.006 0.026"/>
|
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|
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</collision>
|
||||
<collision>
|
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<origin xyz="0 -0.016 0.015" rpy="0 0 0"/>
|
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<geometry>
|
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<box size="0.02 0.004 0.034"/>
|
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|
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<collision>
|
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|
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<geometry>
|
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<box size="0.014 0.02 0.004"/>
|
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|
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|
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<collision>
|
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<origin xyz="0 -0.0045 0" rpy="0 0 0"/>
|
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<geometry>
|
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<box size="0.014 0.02 0.004"/>
|
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|
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<collision>
|
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<origin xyz="0.0075 -0.035 0.015" rpy="0 0 0"/>
|
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<geometry>
|
||||
<box size="0.034 0.022 0.026"/>
|
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|
||||
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|
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<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
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<mass value="0.037"/>
|
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<inertia ixx="0.000005542" ixy="-0.000000607" ixz="-0.000000017" iyy="0.000005727" iyz="-0.000000023" izz="0.000006682"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="fingertip_2">
|
||||
<visual>
|
||||
<origin xyz="0.0132 -0.0061 0.01450" rpy="3.14159 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/fingertip.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- fingertip -->
|
||||
<origin xyz="0 -0.017 0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.006 0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.006 0.03" rpy="0 0 0"/>
|
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<geometry>
|
||||
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|
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|
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</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.006 -0.001" rpy="0 0 0"/>
|
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<geometry>
|
||||
<box size="0.014 0.022 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/white_tip.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.016"/>
|
||||
<inertia ixx="0.000003368" ixy="0.000000115" ixz="0" iyy="0.000001556" iyz="0" izz="0.000002863"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="4" type="revolute">
|
||||
<origin xyz="-0.0122 0.0381 0.0145" rpy="-1.57079 0 1.57079"/>
|
||||
<parent link="mcp_joint_2"/>
|
||||
<child link="pip_2"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-1.047" upper="1.047"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="5" type="revolute">
|
||||
<origin xyz="-0.0071 -0.0224 -0.0187" rpy="1.57079 1.57079 0"/>
|
||||
<parent link="palm_lower"/>
|
||||
<child link="mcp_joint_2"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-0.314" upper="2.23"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="6" type="revolute">
|
||||
<origin xyz="0.015 0.0143 -0.013" rpy="1.57079 -1.57079 0"/>
|
||||
<parent link="pip_2"/>
|
||||
<child link="dip_2"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-0.506" upper="1.885"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="7" type="revolute">
|
||||
<origin xyz="0 -0.0361 0.0002" rpy="0 0 0"/>
|
||||
<parent link="dip_2"/>
|
||||
<child link="fingertip_2"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-0.366" upper="2.042"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<link name="mcp_joint_3">
|
||||
<visual>
|
||||
<origin xyz="0.0084 0.0077 0.01465" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/mcp_joint.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- mcp_joint -->
|
||||
<origin xyz="0 0.018 0.0147" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.006 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.027 0.042 0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.028 0.04 0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.0262 0.02 0.0146" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.034 0.006 0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.0295 0.035 0.029" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.024 0.008"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0.005 0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.02 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0.005 -0.001" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.02 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.044"/>
|
||||
<inertia ixx="0.000011499" ixy="0.000003049" ixz="0.000000121" iyy="0.000007796" iyz="0.000000112" izz="0.000014759"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="pip_3">
|
||||
<visual>
|
||||
<origin xyz="0.0096 0.0003 0.0007" rpy="-1.57079 -1.57079 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/pip.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- pip -->
|
||||
<origin xyz="0.0075 -0.0002 -0.011" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.034 0.026 0.022"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.032"/>
|
||||
<inertia ixx="0.000004798" ixy="0.000000012" ixz="0.000000004" iyy="0.000002862" iyz="0.000000011" izz="0.000004234"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="dip_3">
|
||||
<visual>
|
||||
<origin xyz="0.0211 -0.0084 0.0097" rpy="-3.14159 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/dip.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- dip -->
|
||||
<origin xyz="0 -0.02 0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.016 0.006 0.026"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.016 0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.004 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.0045 0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.02 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.0045 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.02 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.0075 -0.035 0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.034 0.022 0.026"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.037"/>
|
||||
<inertia ixx="0.000005542" ixy="-0.000000607" ixz="-0.000000017" iyy="0.000005727" iyz="-0.000000023" izz="0.000006682"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="fingertip_3">
|
||||
<visual>
|
||||
<origin xyz="0.0132 -0.0061 0.0145" rpy="3.14159 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/fingertip.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- fingertip -->
|
||||
<origin xyz="0 -0.017 0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.006 0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.006 0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.022 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.006 -0.001" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.022 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/white_tip.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.016"/>
|
||||
<inertia ixx="0.000003368" ixy="0.000000115" ixz="0" iyy="0.000001556" iyz="0" izz="0.000002863"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="8" type="revolute">
|
||||
<origin xyz="-0.0122 0.0381 0.0145" rpy="-1.57079 0 1.57079"/>
|
||||
<parent link="mcp_joint_3"/>
|
||||
<child link="pip_3"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-1.047" upper="1.047"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="9" type="revolute">
|
||||
<origin xyz="-0.00709 -0.0678 -0.0187" rpy="1.57079 1.57079 0"/>
|
||||
<parent link="palm_lower"/>
|
||||
<child link="mcp_joint_3"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-0.314" upper="2.23"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="10" type="revolute">
|
||||
<origin xyz="0.015 0.0143 -0.013" rpy="1.57079 -1.57079 0"/>
|
||||
<parent link="pip_3"/>
|
||||
<child link="dip_3"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-0.506" upper="1.885"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="11" type="revolute">
|
||||
<origin xyz="0 -0.03609 0.0002" rpy="0 0 0"/>
|
||||
<parent link="dip_3"/>
|
||||
<child link="fingertip_3"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-0.366" upper="2.042"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<link name="thumb_temp_base">
|
||||
<visual>
|
||||
<origin xyz="-0.0053 0.0003 0.00078" rpy="-1.57079 -1.57079 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/pip.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- pip -->
|
||||
<origin xyz="0.0075 -0.0002 -0.011" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.034 0.026 0.022"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.032"/>
|
||||
<inertia ixx="0.000004798" ixy="0.000000012" ixz="0.000000004" iyy="0.000002862" iyz="0.000000011" izz="0.000004234"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="thumb_pip">
|
||||
<visual>
|
||||
<origin xyz="0.01196 0 -0.0158" rpy="1.57079 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/thumb_pip.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- thumb_pip -->
|
||||
<origin xyz="0 0 -0.0015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.018 0.033 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.015 -0.013" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.004 0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0.015 -0.013" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.004 0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.003"/>
|
||||
<inertia ixx="0.000000593" ixy="0" ixz="0" iyy="0.000000549" iyz="0" izz="0.000000224"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="thumb_dip">
|
||||
<visual>
|
||||
<origin xyz="0.0439 0.0579 -0.0086" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/thumb_dip.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- thumb_dip -->
|
||||
<origin xyz="0 0.0105 -0.014" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.04 0.024"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0.031 -0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.004 0.032"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0.042 0.001" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.02 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0.042 -0.029" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.014 0.02 0.004"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.0135 0.0175 -0.011656" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.01 0.024 0.018"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.038"/>
|
||||
<inertia ixx="0.000008474" ixy="0.000000241" ixz="0.000000026" iyy="0.000003841" iyz="0.000000025" izz="0.000007679"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="thumb_fingertip">
|
||||
<visual>
|
||||
<origin xyz="0.0625 0.0784 0.0489" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/thumb_fingertip.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision> <!-- thumb_fingertip -->
|
||||
<origin xyz="0 -0.0085 -0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.036 0.024"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.029 -0.014" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.004 0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.015 -0.0175 -0.0115" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.008 0.024 0.018"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/white_tip_thumb.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.049"/>
|
||||
<inertia ixx="0.000020372" ixy="-0.000000489" ixz="-0.00000003" iyy="0.000004336" iyz="-0.000000097" izz="0.000019845"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="12" type="revolute">
|
||||
<origin xyz="-0.0693 -0.0012 -0.0216" rpy="0 1.57079 0"/>
|
||||
<parent link="palm_lower"/>
|
||||
<child link="thumb_temp_base"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-0.349" upper="2.094"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="13" type="revolute">
|
||||
<origin xyz="0 0.0143 -0.013" rpy="1.57079 -1.57079 0"/>
|
||||
<parent link="thumb_temp_base"/>
|
||||
<child link="thumb_pip"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-0.47" upper="2.443"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="14" type="revolute">
|
||||
<origin xyz="0 0.0145 -0.017" rpy="-1.57079 0 0"/>
|
||||
<parent link="thumb_pip"/>
|
||||
<child link="thumb_dip"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-1.20" upper="1.90"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="15" type="revolute">
|
||||
<origin xyz="0 0.0466 0.0002" rpy="0 0 3.14159"/>
|
||||
<parent link="thumb_dip"/>
|
||||
<child link="thumb_fingertip"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="0.95" velocity="8.48" lower="-1.34" upper="1.88"/>
|
||||
<joint_properties friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<!-- virtual auxiliary link-->
|
||||
<link name="thumb_tip_head"/>
|
||||
<link name="index_tip_head"/>
|
||||
<link name="middle_tip_head"/>
|
||||
<link name="ring_tip_head"/>
|
||||
<joint name="thumb_tip" type="fixed">
|
||||
<parent link="thumb_fingertip"/>
|
||||
<child link="thumb_tip_head"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.06 -0.015"/>
|
||||
</joint>
|
||||
<joint name="index_tip" type="fixed">
|
||||
<parent link="fingertip"/>
|
||||
<child link="index_tip_head"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.048 0.015"/>
|
||||
</joint>
|
||||
<joint name="middle_tip" type="fixed">
|
||||
<parent link="fingertip_2"/>
|
||||
<child link="middle_tip_head"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.048 0.015"/>
|
||||
</joint>
|
||||
<joint name="ring_tip" type="fixed">
|
||||
<parent link="fingertip_3"/>
|
||||
<child link="ring_tip_head"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.048 0.015"/>
|
||||
</joint>
|
||||
</robot>
|
||||
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Reference in New Issue
Block a user