Add Linkerbot URDF models for O6, G20/L20, and L6 hands.
This commit is contained in:
sunxianghui
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<?xml version="1.0" encoding="utf-8"?>
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||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="linkerhand_o6_left">
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<material name="silver">
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||||
<color rgba="0.5 0.5 0.52 1.0"/>
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||||
</material>
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||||
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||||
<material name="BlackAccent">
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<color rgba="0.15 0.15 0.15 1.0"/>
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</material>
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||||
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||||
<link
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name="lh_hand_base_link">
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||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00157788568070457 -0.00034876725935859 0.0538452219801211"
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rpy="0 0 0" />
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<mass
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value="0.0672935238166485" />
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<inertia
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ixx="5.22525212160954E-05"
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ixy="3.06955729584715E-07"
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ixz="-3.90341166950521E-07"
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iyy="3.33522349207724E-05"
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iyz="-7.76680063574627E-07"
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izz="2.28469461105385E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
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||||
<mesh
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||||
filename="meshes/hand_base_link.STL" />
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||||
</geometry>
|
||||
<material name="silver"/>
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||||
</visual>
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||||
<collision>
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||||
<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="meshes/hand_base_link.STL" />
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</geometry>
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</collision>
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||||
</link>
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<link
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name="lh_thumb_metacarpals_base2">
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||||
<inertial>
|
||||
<origin
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||||
xyz="0.00162800681276937 -0.0027668017246415 -0.00184234438641236"
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rpy="0 0 0" />
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<mass
|
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value="0.00138588296544333" />
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<inertia
|
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ixx="5.26292160685909E-08"
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ixy="-3.92888681640568E-09"
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ixz="-2.43767371295222E-09"
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iyy="4.82620491570326E-08"
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||||
iyz="3.71869784206147E-09"
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izz="2.88550286112821E-08" />
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||||
</inertial>
|
||||
<visual>
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||||
<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
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||||
filename="meshes/thumb_metacarpals_base2.STL" />
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||||
</geometry>
|
||||
<material name="BlackAccent"/>
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||||
</visual>
|
||||
<collision>
|
||||
<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
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||||
filename="meshes/thumb_metacarpals_base2.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="lh_thumb_cmc_yaw"
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type="revolute">
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<origin
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||||
xyz="0.011508 -0.022975 0.032794"
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||||
rpy="0 0 0.167545678324764" />
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||||
<parent
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||||
link="lh_hand_base_link" />
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||||
<child
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link="lh_thumb_metacarpals_base2" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="0"
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upper="1.2431454"
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effort="100"
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velocity="1" />
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</joint>
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||||
<link
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||||
name="lh_thumb_metacarpals">
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||||
<inertial>
|
||||
<origin
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||||
xyz="4.24816204999817E-05 1.74183907812875E-05 0.0228341640631254"
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rpy="0 0 0" />
|
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<mass
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value="0.0123381586619931" />
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<inertia
|
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ixx="1.10292537368909E-06"
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ixy="-5.99642232777877E-10"
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ixz="-1.14233573940545E-07"
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iyy="1.76757772551884E-06"
|
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izz="9.36347792411098E-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>
|
||||
<mesh
|
||||
filename="meshes/thumb_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
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xyz="0 0 0"
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rpy="0 0 0" />
|
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<geometry>
|
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<mesh
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||||
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="lh_thumb_cmc_pitch"
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type="revolute">
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||||
<origin
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||||
xyz="0.0061649 -0.010678 -0.004891"
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rpy="0 -1.1529 2.0944" />
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||||
<parent
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||||
link="lh_thumb_metacarpals_base2" />
|
||||
<child
|
||||
link="lh_thumb_metacarpals" />
|
||||
<axis
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||||
xyz="0 1 0" />
|
||||
<limit
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||||
lower="0"
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upper="0.588901345"
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effort="100"
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velocity="1" />
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</joint>
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<link
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name="lh_thumb_distal">
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||||
<inertial>
|
||||
<origin
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||||
xyz="-0.00413725702921841 -5.90704520436747E-08 0.023011401589736"
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rpy="0 0 0" />
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||||
<mass
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value="0.00763332957284057" />
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||||
<inertia
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||||
ixx="1.3057487813702E-06"
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ixy="-1.19781508112714E-11"
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ixz="-7.19551697268541E-08"
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iyy="1.2248908905341E-06"
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||||
iyz="4.55347974652679E-12"
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||||
izz="2.77271910592615E-07" />
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||||
</inertial>
|
||||
<visual>
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||||
<origin
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||||
xyz="0 0 0"
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||||
rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
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||||
filename="meshes/thumb_distal.STL" />
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||||
</geometry>
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||||
<material name="silver"/>
|
||||
</visual>
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||||
<collision>
|
||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
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||||
filename="meshes/thumb_distal.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="lh_thumb_ip"
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type="revolute">
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||||
<origin
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||||
xyz="0.0037776 0 0.045368"
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||||
rpy="0 0 0" />
|
||||
<parent
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||||
link="lh_thumb_metacarpals" />
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||||
<child
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||||
link="lh_thumb_distal" />
|
||||
<axis
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||||
xyz="0 1 0" />
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||||
<limit
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||||
lower="0"
|
||||
upper="1.16064834"
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||||
effort="100"
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||||
velocity="1" />
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||||
<mimic
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||||
joint="lh_thumb_cmc_pitch"
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||||
multiplier="1.96832996705076"
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||||
offset="0" />
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||||
</joint>
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||||
<link
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||||
name="lh_index_proximal">
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||||
<inertial>
|
||||
<origin
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||||
xyz="-0.00208656556336452 2.53838713251686E-06 0.0172734941980264"
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rpy="0 0 0" />
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<mass
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value="0.00253174651934627" />
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<inertia
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||||
ixx="2.65988714157799E-07"
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ixy="-1.67174578825824E-11"
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ixz="-4.31047725546034E-08"
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iyy="2.72914069166233E-07"
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iyz="1.8756709532167E-10"
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</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
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rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
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||||
filename="meshes/index_proximal.STL" />
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||||
</geometry>
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||||
<material name="silver"/>
|
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</visual>
|
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<collision>
|
||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
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||||
filename="meshes/index_proximal.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="lh_index_mcp_pitch"
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||||
type="revolute">
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||||
<origin
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||||
xyz="0.0024758 -0.02419 0.098779"
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||||
rpy="0.05236 0 0" />
|
||||
<parent
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||||
link="lh_hand_base_link" />
|
||||
<child
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||||
link="lh_index_proximal" />
|
||||
<axis
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||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.609333425"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="lh_index_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658986616416549 5.13855642059191E-06 0.0194393600039178"
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rpy="0 0 0" />
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<mass
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value="0.00376951085886838" />
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<inertia
|
||||
ixx="3.22347106085043E-07"
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ixy="1.3801788663582E-11"
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ixz="1.14352857317951E-07"
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iyy="3.65328133721509E-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>
|
||||
<mesh
|
||||
filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
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</visual>
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<collision>
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||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="lh_index_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lh_index_proximal" />
|
||||
<child
|
||||
link="lh_index_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.49597186651782"
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||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="lh_index_mcp_pitch"
|
||||
multiplier="0.904318245922221"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="lh_middle_proximal">
|
||||
<inertial>
|
||||
<origin
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||||
xyz="-0.00208660654138235 2.56918180119303E-06 0.0172735011723351"
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<mass
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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
|
||||
filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
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||||
<material name="silver"/>
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</visual>
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<collision>
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||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="lh_middle_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.00052576 -0.00634 0.1027"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lh_hand_base_link" />
|
||||
<child
|
||||
link="lh_middle_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.609333425"
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||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="lh_middle_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
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rpy="0 0 0" />
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<inertia
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||||
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iyy="3.65329535087755E-07"
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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
|
||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
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||||
<material name="silver"/>
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||||
</visual>
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||||
<collision>
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||||
<origin
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||||
xyz="0 0 0"
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rpy="0 0 0" />
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||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="lh_middle_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lh_middle_proximal" />
|
||||
<child
|
||||
link="lh_middle_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.49597186651782"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="lh_middle_mcp_pitch"
|
||||
multiplier="0.904318245922221"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="lh_ring_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208667931345812 2.63000419462034E-06 0.0172734926448377"
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||||
rpy="0 0 0" />
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||||
<mass
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value="0.00253182223645066" />
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||||
<inertia
|
||||
ixx="2.65989756076584E-07"
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||||
ixy="-1.74912952703656E-11"
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||||
ixz="-4.31043325594253E-08"
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||||
iyy="2.7291510093393E-07"
|
||||
iyz="1.87158326740895E-10"
|
||||
izz="8.56031522765909E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="lh_ring_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0010258 0.011135 0.098767"
|
||||
rpy="-0.05236 0 0" />
|
||||
<parent
|
||||
link="lh_hand_base_link" />
|
||||
<child
|
||||
link="lh_ring_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.609333425"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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</robot>
|
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@@ -0,0 +1,664 @@
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||||
<?xml version="1.0" encoding="utf-8"?>
|
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot
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name="linkerhand_o6_right">
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
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|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
</geometry>
|
||||
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|
||||
</link>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</joint>
|
||||
<link
|
||||
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|
||||
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|
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
<mimic
|
||||
joint="rh_index_mcp_pitch"
|
||||
multiplier="0.904318245922221"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_middle_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208661081773556 -4.93451838476378E-06 0.0172736805321904"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00253175497594429" />
|
||||
<inertia
|
||||
ixx="2.65989683690695E-07"
|
||||
ixy="-3.58343951791586E-11"
|
||||
ixz="4.31048601085216E-08"
|
||||
iyy="2.72915006047006E-07"
|
||||
iyz="1.75718024412593E-10"
|
||||
izz="8.56020467202518E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</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="0.00052576 0.00634 0.1027"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_middle_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.609333425"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_middle_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940304809306 -4.5885743593238E-06 0.0194434523296449"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00376786259758948" />
|
||||
<inertia
|
||||
ixx="3.221153658306E-07"
|
||||
ixy="1.02639617308432E-11"
|
||||
ixz="-1.14363547272711E-07"
|
||||
iyy="3.65130723083104E-07"
|
||||
iyz="-1.96904618797577E-10"
|
||||
izz="1.24256787913797E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_middle_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_middle_proximal" />
|
||||
<child
|
||||
link="rh_middle_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.49597186651782"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_middle_mcp_pitch"
|
||||
multiplier="0.904318245922221"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_ring_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208654311325356 -4.98538564003281E-06 0.0172736743497407"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00253170963529411" />
|
||||
<inertia
|
||||
ixx="2.6598913795678E-07"
|
||||
ixy="-3.62757108675266E-11"
|
||||
ixz="4.31050611555507E-08"
|
||||
iyy="2.72914417061517E-07"
|
||||
iyz="1.75554984053478E-10"
|
||||
izz="8.56012458677515E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_ring_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0010258 -0.011135 0.098767"
|
||||
rpy="0.05236 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_ring_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.609333425"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_ring_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940273069729 -4.56628863591824E-06 0.0194435005686854"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0037678395356105" />
|
||||
<inertia
|
||||
ixx="3.22112632437858E-07"
|
||||
ixy="1.01848408913558E-11"
|
||||
ixz="-1.1436348915342E-07"
|
||||
iyy="3.65128262095686E-07"
|
||||
iyz="-1.96145632992445E-10"
|
||||
izz="1.24256284608064E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_ring_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_ring_proximal" />
|
||||
<child
|
||||
link="rh_ring_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.49597186651782"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_ring_mcp_pitch"
|
||||
multiplier="0.904318245922221"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_pinky_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208649034130813 -5.02314582560837E-06 0.0172736680793697"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00253167400540778" />
|
||||
<inertia
|
||||
ixx="2.65988718820404E-07"
|
||||
ixy="-3.66012295280295E-11"
|
||||
ixz="4.31052220484445E-08"
|
||||
iyy="2.72913936904813E-07"
|
||||
iyz="1.75447396222308E-10"
|
||||
izz="8.56006424720129E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_pinky_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0024758 -0.028372 0.092741"
|
||||
rpy="0.087266 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_pinky_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.609333425"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_pinky_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940431519205 -4.55268314210333E-06 0.0194435341098305"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00376782669873412" />
|
||||
<inertia
|
||||
ixx="3.22111112339498E-07"
|
||||
ixy="1.01707985908333E-11"
|
||||
ixz="-1.14363524419061E-07"
|
||||
iyy="3.65126916899176E-07"
|
||||
iyz="-1.95589215866356E-10"
|
||||
izz="1.24256004854426E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_pinky_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_pinky_proximal" />
|
||||
<child
|
||||
link="rh_pinky_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.49597186651782"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_pinky_mcp_pitch"
|
||||
multiplier="0.904318245922221"
|
||||
offset="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
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+953
@@ -0,0 +1,953 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<robot
|
||||
name="linkerhand_l6v3.1_right">
|
||||
<!-- 手掌基座，作为整只手的根链接 -->
|
||||
<link
|
||||
name="rh_hand_base_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0019900000 0.0009100000 0.0583810000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.4185" />
|
||||
<inertia
|
||||
ixx="0.0004998"
|
||||
ixy="-1.2853e-05"
|
||||
ixz="-8.317e-06"
|
||||
iyy="0.0003567"
|
||||
iyz="-1.0354e-05"
|
||||
izz="0.0002301" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/hand_base_link.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/hand_base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="rh_thumb_metacarpals_base1">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0018663000 0.0066406000 0.0015330000"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.01" />
|
||||
<inertia
|
||||
ixx="3.3724e-07"
|
||||
ixy="-1.11e-07"
|
||||
ixz="-3.6039e-08"
|
||||
iyy="2.9457e-07"
|
||||
iyz="-5.7181e-08"
|
||||
izz="4.903e-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_metacarpals_base1.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_metacarpals_base1.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_thumb_cmc_roll"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0078133 0.030812 0.025678"
|
||||
rpy="-0.0349069999759288 6.51804876738993e-09 0.00738597563689764" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_thumb_metacarpals_base1" />
|
||||
<axis
|
||||
xyz="0 0.034899 -0.99939" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.12177324"
|
||||
effort="0.588"
|
||||
velocity="5.95" />
|
||||
<dynamics damping="0.02" friction="0.05416667"/>
|
||||
</joint>
|
||||
<link
|
||||
name="rh_thumb_metacarpals">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0076927091 -0.0859662185 0.0235283087"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.065" />
|
||||
<inertia
|
||||
ixx="8.407e-06"
|
||||
ixy="1.1338e-09"
|
||||
ixz="1.1136e-08"
|
||||
iyy="8.3899e-06"
|
||||
iyz="-3.1171e-07"
|
||||
izz="2.0091e-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_metacarpals.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_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_thumb_cmc_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0054997 0.013314 0.0032166"
|
||||
rpy="-0.98568644 0.0136370000000001 -0.40121" />
|
||||
<parent
|
||||
link="rh_thumb_metacarpals_base1" />
|
||||
<child
|
||||
link="rh_thumb_metacarpals" />
|
||||
<axis
|
||||
xyz="1 0 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0.65673088"
|
||||
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="0.88524192477979"
|
||||
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="1.23208487"
|
||||
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="0.923280528556446"
|
||||
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="1.23208487"
|
||||
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="0.923280528556446"
|
||||
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="1.23208487"
|
||||
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="0.923280528556446"
|
||||
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="1.23208487"
|
||||
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="0.923280528556446"
|
||||
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 1.17646620703189 -0.184902818001199 0 0 0"/>
|
||||
<joint name="rh_couple_middle" joint1="rh_middle_dip" joint2="rh_middle_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
|
||||
<joint name="rh_couple_ring" joint1="rh_ring_dip" joint2="rh_ring_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
|
||||
<joint name="rh_couple_pinky" joint1="rh_pinky_dip" joint2="rh_pinky_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
|
||||
<joint name="rh_couple_thumb" joint1="rh_thumb_dip" joint2="rh_thumb_cmc_pitch" polycoef="0 0.88524192477979 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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Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user