Add O30 hand models
This commit is contained in:
Codex Upload
@@ -0,0 +1,605 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="linkerhand_O30i_left.urdf" version="1.0">
|
||||
<link name="hand_base_link">
|
||||
<inertial>
|
||||
<origin xyz="0.043952 -0.014169 0.022868" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.046494"/>
|
||||
<inertia ixx="2.6054e-05" ixy="-4.7068e-07" ixz="2.1277e-06" iyy="5.2487e-05" iyz="2.7986e-06" izz="3.1143e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hand_base_link.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6902 0.6902 0.6902 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hand_base_link.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="thumb_metacarpals_base1">
|
||||
<inertial>
|
||||
<origin xyz="-0.010316 -0.0066586 -0.0024476" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.0024826"/>
|
||||
<inertia ixx="1.6045e-07" ixy="-2.6684e-08" ixz="-1.7024e-08" iyy="1.7121e-07" iyz="-2.6748e-08" izz="2.3246e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base1.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6 0.4 0.2 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base1.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_cmc_roll" type="revolute">
|
||||
<origin xyz="0.018257 -0.012998 0.024272" rpy="0.127873356824437 0 0"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
<parent link="hand_base_link"/>
|
||||
<child link="thumb_metacarpals_base1"/>
|
||||
<limit effort="1.0" lower="0.0" upper="0.924435406161396" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="thumb_metacarpals_base2">
|
||||
<inertial>
|
||||
<origin xyz="0.00038148 -0.0076809 0.0021853" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.0011821"/>
|
||||
<inertia ixx="3.9644e-08" ixy="2.1365e-10" ixz="7.766e-11" iyy="1.569e-08" iyz="-7.7096e-09" izz="3.6362e-08"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base2.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base2.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_cmc_yaw" type="revolute">
|
||||
<origin xyz="-0.00215 -0.015238 0.0" rpy="0 0 0.0628833153583699"/>
|
||||
<axis xyz="-0.0 -0.0 1.0"/>
|
||||
<parent link="thumb_metacarpals_base1"/>
|
||||
<child link="thumb_metacarpals_base2"/>
|
||||
<limit effort="1.0" lower="0.0" upper="2.02274509409686" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="thumb_proximal">
|
||||
<inertial>
|
||||
<origin xyz="3.6654e-06 -0.023946 -0.0037436" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.0073969"/>
|
||||
<inertia ixx="1.1793e-06" ixy="1.3736e-10" ixz="-9.6655e-11" iyy="6.5357e-07" iyz="-5.8031e-08" izz="1.0764e-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.33333 0.6902 1.0 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_mcp" type="revolute">
|
||||
<origin xyz="0.00045 -0.015539 0.0029937" rpy="0.346895988416968 0 0"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
<parent link="thumb_metacarpals_base2"/>
|
||||
<child link="thumb_proximal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.96128607555954" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="thumb_distal">
|
||||
<inertial>
|
||||
<origin xyz="2.0498e-05 -0.02017 -0.00424" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.0079712"/>
|
||||
<inertia ixx="8.2871e-07" ixy="-4.2596e-11" ixz="-2.569e-11" iyy="3.2681e-07" iyz="2.6339e-08" izz="8.3897e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.4 0.4 0.4 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_ip" type="revolute">
|
||||
<origin xyz="0.0 -0.048532 0.00155" rpy="-0.0 -0.0 -0.0"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
<parent link="thumb_proximal"/>
|
||||
<child link="thumb_distal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.49192531330309" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="index_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258094052 5.13953894481882e-05 -0.00136151819442749" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00661261244742178"/>
|
||||
<inertia ixx="4.53652866123246e-07" ixy="1.66679020586885e-08" ixz="-1.26712149811549e-08" iyy="5.30500427518365e-07" iyz="4.56960905410225e-10" izz="2.56538210441828e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.286274509803922 1.0 0.196078431372549 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 -0.029679 0.075158" rpy="-0.0 -0.0 -0.0"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
<parent link="hand_base_link"/>
|
||||
<child link="index_metacarpals"/>
|
||||
<limit effort="1.0" lower="-0.434511467865509" upper="0" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="index_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.0043709621275504 -2.16385333159826e-05 0.0216063163265681" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00727256326100808"/>
|
||||
<inertia ixx="6.59424988535241e-07" ixy="1.15369816881374e-10" ixz="-2.43455022025729e-08" iyy="7.06690330759988e-07" iyz="-1.75709839767273e-10" izz="3.18019337389962e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="0 -0.0260285581302788 0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="index_metacarpals"/>
|
||||
<child link="index_proximal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.73118857627559" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="index_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00412829489374895 -4.33935129848899e-05 0.0217078554898162" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00678023137976301"/>
|
||||
<inertia ixx="6.77930682969668e-07" ixy="1.0022443161073e-10" ixz="-7.34914379088131e-09" iyy="7.24200285246171e-07" iyz="6.8455968172179e-11" izz="2.95854297824364e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_pip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.039681" rpy="0 0.0290749370811219 0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="index_proximal"/>
|
||||
<child link="index_middle"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.49818560722688" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="index_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405260592933677 -2.92010642392003e-05 0.0113571507781909" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.0033098791304967"/>
|
||||
<inertia ixx="1.64002168413707e-07" ixy="-3.45038659319342e-12" ixz="-9.24432368435003e-09" iyy="1.74779055176355e-07" iyz="3.79661625368079e-12" izz="1.1460476210935e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6 0.4 0.2 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_dip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.040244" rpy="-0.0 -0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="index_middle"/>
|
||||
<child link="index_distal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.37273400535361" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="middle_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258093801 5.13953895135309e-05 -0.00136151819462214" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00661261244742176"/>
|
||||
<inertia ixx="4.53652866122421e-07" ixy="1.6667902059155e-08" ixz="-1.26712149847738e-08" iyy="5.30500427517202e-07" iyz="4.5696090563867e-10" izz="2.56538210441734e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.4 0.2 0.8 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 -0.0086937 0.081586" rpy="-0.0 -0.0 -0.0"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
<parent link="hand_base_link"/>
|
||||
<child link="middle_metacarpals"/>
|
||||
<limit effort="1.0" lower="-0.499206866497031" upper="0.148033492259856" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="middle_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096211453991 -2.16385377681651e-05 0.021606316263903" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00727256322379252"/>
|
||||
<inertia ixx="6.59424984533755e-07" ixy="1.15369786907248e-10" ixz="-2.43455017911397e-08" iyy="7.06690325324724e-07" iyz="-1.75709424177874e-10" izz="3.18019338775399e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="0 -0.03821323651149 0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="middle_metacarpals"/>
|
||||
<child link="middle_proximal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.66308654227213" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="middle_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00416491190892752 -4.53802720945468e-05 0.0183968023027694" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00558395826725584"/>
|
||||
<inertia ixx="6.23566979572116e-07" ixy="1.48661311147268e-12" ixz="9.71608105955063e-09" iyy="6.62874748143871e-07" iyz="-1.95417713888735e-11" izz="2.52254263414512e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_pip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.039681" rpy="0 0.0364098897290348 0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="middle_proximal"/>
|
||||
<child link="middle_middle"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.45607089453082" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="middle_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.0040526080066767 -2.92015397774141e-05 0.0113571741521581" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00330988759550385"/>
|
||||
<inertia ixx="1.64003148791956e-07" ixy="-3.39806839680505e-12" ixz="-9.24426389673421e-09" iyy="1.74779889123667e-07" iyz="3.85472238306036e-12" izz="1.1460470796913e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6 0.4 0.2 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_dip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.040244" rpy="-0.0 -0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="middle_middle"/>
|
||||
<child link="middle_distal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.42783903497856" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="ring_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258039409 5.13953875669396e-05 -0.00136151819474453" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00661261244414956"/>
|
||||
<inertia ixx="4.53652866086209e-07" ixy="1.66679020186835e-08" ixz="-1.26712150849033e-08" iyy="5.30500427139748e-07" iyz="4.56960893200256e-10" izz="2.56538210088551e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.286274509803922 1.0 0.196078431372549 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 0.012188 0.079218" rpy="-0.0 -0.0 -0.0"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
<parent link="hand_base_link"/>
|
||||
<child link="ring_metacarpals"/>
|
||||
<limit effort="0.0" lower="-0.249111863015287" upper="0.262562840623171" velocity="0.0"/>
|
||||
</joint>
|
||||
<link name="ring_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096212848108 -2.16385332126728e-05 0.0216063163327438" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00727256326396366"/>
|
||||
<inertia ixx="6.5942498771819e-07" ixy="1.15369820837761e-10" ixz="-2.43455022245408e-08" iyy="7.06690331454756e-07" iyz="-1.75709860575411e-10" izz="3.18019335895501e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="0 -0.0420356467907244 0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="ring_metacarpals"/>
|
||||
<child link="ring_proximal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.76640534980352" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="ring_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00416491192838481 -4.53802663086568e-05 0.0183968024169422" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00558395830757745"/>
|
||||
<inertia ixx="6.23566985916703e-07" ixy="1.48664397100439e-12" ixz="9.71608067536211e-09" iyy="6.62874753776221e-07" iyz="-1.95421758625405e-11" izz="2.52254264189611e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_pip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.039681" rpy="0 0.044490155101591 0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="ring_proximal"/>
|
||||
<child link="ring_middle"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.47104313916808" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="ring_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405260742568393 -2.91984265882485e-05 0.0113571618103905" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00330988375961977"/>
|
||||
<inertia ixx="1.64002482967217e-07" ixy="-3.51093191735502e-12" ixz="-9.24429621268036e-09" iyy="1.74779331899762e-07" iyz="3.79763524146384e-12" izz="1.14604618112137e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6 0.4 0.2 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_dip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.040244" rpy="-0.0 -0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="ring_middle"/>
|
||||
<child link="ring_distal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.41798725489833" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="pinky_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258039376 5.13953875944106e-05 -0.00136151819476814" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00661261244414956"/>
|
||||
<inertia ixx="4.53652866086213e-07" ixy="1.66679020188784e-08" ixz="-1.26712150853475e-08" iyy="5.30500427140437e-07" iyz="4.56960893204398e-10" izz="2.56538210089087e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.4 0.2 0.8 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 0.030927 0.067761" rpy="-0.0 -0.0 -0.0"/>
|
||||
<axis xyz="-1.0 -0.0 -0.0"/>
|
||||
<parent link="hand_base_link"/>
|
||||
<child link="pinky_metacarpals"/>
|
||||
<limit effort="1.0" lower="-0.0989980424491418" upper="0.322616311036501" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="pinky_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096211497169 -2.16385374772129e-05 0.0216063162659534" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00727256322451616"/>
|
||||
<inertia ixx="6.59424984467403e-07" ixy="1.15369789522493e-10" ixz="-2.43455018407703e-08" iyy="7.06690325599736e-07" iyz="-1.75709453609034e-10" izz="3.1801933843565e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="0 -0.0465089745787304 0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="pinky_metacarpals"/>
|
||||
<child link="pinky_proximal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.77873979730284" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="pinky_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00412829488912096 -4.33935004629793e-05 0.0217078554135159" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00678023141445045"/>
|
||||
<inertia ixx="6.77930689052883e-07" ixy="1.00224317995394e-10" ixz="-7.34914443754626e-09" iyy="7.24200290521759e-07" iyz="6.84568635307055e-11" izz="2.9585429874662e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_pip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.039681" rpy="0 0.0466259372769993 0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="pinky_proximal"/>
|
||||
<child link="pinky_middle"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.48539110187787" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="pinky_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405259886775996 -2.91983586506936e-05 0.0113571520424041" rpy="-0.0 -0.0 -0.0"/>
|
||||
<mass value="0.00330987874289192"/>
|
||||
<inertia ixx="1.64002282686245e-07" ixy="-3.40616709379705e-12" ixz="-9.24408880780151e-09" iyy="1.74779075536322e-07" iyz="3.76063308216828e-12" izz="1.14604555086707e-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6 0.4 0.2 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_dip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.040244" rpy="-0.0 -0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="pinky_middle"/>
|
||||
<child link="pinky_distal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.49087325932603" velocity="1.0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
File diff suppressed because it is too large
Load Diff
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Reference in New Issue
Block a user