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Linkerbot_URDF/012/right/linkerhand_o12_right.urdf
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sunxianghui c418ffffdd Add O12 (012) left/right hand meshes and right URDF.
2026-09-10 10:42:04 +08:00

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<?xml version="1.0" encoding="utf-8"?>
<!-- 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
name="linkerhand_o12_t3_right">
<link
name="base_link">
<inertial>
<origin
xyz="-0.0096398047938023 -0.00047917585722887 0.0603367527946174"
rpy="0 0 0" />
<mass
value="0.5043" />
<inertia
ixx="0.000905166939429976"
ixy="-1.162348611969784E-06"
ixz="-7.626795314910818E-06"
iyy="0.000523785965540876"
iyz="5.837263973098434E-06"
izz="0.000441585624000723" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="middle_metacarpals">
<inertial>
<origin
xyz="0.00886137366293534 3.75661207696609E-09 0.00266832955690114"
rpy="0 0 0" />
<mass
value="0.0065" />
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ixx="2.46519229148709E-07"
ixy="-2.58082866357576E-12"
ixz="2.49870930247022E-08"
iyy="1.61786325608695E-07"
iyz="-6.05379769020976E-13"
izz="2.64089097520208E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/middle_metacarpals.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/middle_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="middle_mcp_roll"
type="revolute">
<origin
xyz="-0.0133999999745104 0.00666067889024924 0.119355702135255"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="middle_metacarpals" />
<axis
xyz="-1 0 0" />
<limit
lower="-0.236357636623775"
upper="0.224622027498213"
effort="1"
velocity="1" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="middle_proximal">
<inertial>
<origin
xyz="-0.00168391427597037 2.70690903636517E-06 0.0214631042896552"
rpy="0 0 0" />
<mass
value="0.0190" />
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ixx="3.659732339481115E-06"
ixy="-4.915002062422236E-10"
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iyy="3.960700754206684E-06"
iyz="3.112036982022315E-09"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/middle_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/middle_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="middle_mcp_pitch"
type="revolute">
<origin
xyz="0.01337 0 0"
rpy="0 0 0" />
<parent
link="middle_metacarpals" />
<child
link="middle_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.31096477"
effort="1.54"
velocity="1.84" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="middle_middle">
<inertial>
<origin
xyz="0.000777918387942521 -5.1759160678122E-05 0.0163635089447652"
rpy="0 0 0" />
<mass
value="0.0063" />
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ixx="7.09169968031653E-07"
ixy="-5.58403474299702E-11"
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iyy="6.03253064491691E-07"
iyz="3.37654190482447E-11"
izz="2.98418040318761E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/middle_middle.STL" />
</geometry>
<material
name="">
<color
rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/middle_middle.STL" />
</geometry>
</collision>
</link>
<joint
name="middle_pip"
type="revolute">
<origin
xyz="-0.0040396 0 0.044837"
rpy="0 0.0266921328807921 0" />
<parent
link="middle_proximal" />
<child
link="middle_middle" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.60665828"
effort="0.49"
velocity="2.51" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="middle_distal">
<inertial>
<origin
xyz="-0.008006 -0.00010704 0.0063998"
rpy="0 0 0" />
<mass
value="0.0111" />
<inertia
ixx="7.619891999E-07"
ixy="-6.918353974E-10"
ixz="-1.8662338322E-07"
iyy="7.718345132E-07"
iyz="2.3900330369E-09"
izz="3.4024356403E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/middle_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.29804 0.29804 0.29804 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/middle_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="middle_dip"
type="revolute">
<origin
xyz="0.005529 0 0.031336"
rpy="0 0 0" />
<parent
link="middle_middle" />
<child
link="middle_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.47364659781233"
effort="1"
velocity="1" />
<dynamics
damping="0.075"
friction="0.005" />
<mimic
joint="middle_pip"
multiplier="0.814631223261738"
offset="0" />
</joint>
<link
name="index_metacarpals">
<inertial>
<origin
xyz="0.00904689264775126 2.37541539324648E-06 0.00296439795566343"
rpy="0 0 0" />
<mass
value="0.0065" />
<inertia
ixx="2.63869833819108E-07"
ixy="-7.07158629020057E-11"
ixz="2.93807318239452E-08"
iyy="1.66006618432987E-07"
iyz="-5.74938282245665E-11"
izz="2.51936897951311E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/index_metacarpals.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/index_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="index_mcp_roll"
type="revolute">
<origin
xyz="-0.0134 0.030778 0.11936"
rpy="0.0306344917565248 0 0" />
<parent
link="base_link" />
<child
link="index_metacarpals" />
<axis
xyz="-1 0 0" />
<limit
lower="-0.211716386332364"
upper="0.244067148647446"
effort="1.16"
velocity="1.31" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="index_proximal">
<inertial>
<origin
xyz="-0.0019557689979677 3.15743659071999E-05 0.0192761513183458"
rpy="0 0 0" />
<mass
value="0.019" />
<inertia
ixx="2.70652482914717E-06"
ixy="-5.79266535767253E-10"
ixz="-1.26145363551436E-07"
iyy="2.99356216810202E-06"
iyz="1.76216459527646E-09"
izz="5.88415039537553E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/index_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/index_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="index_mcp_pitch"
type="revolute">
<origin
xyz="0.01357 0 0"
rpy="-1.96918996415315e-05 0.0283262708018694 -5.57723490797862e-07" />
<parent
link="index_metacarpals" />
<child
link="index_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.28816814"
effort="1.54"
velocity="1.84" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="index_middle">
<inertial>
<origin
xyz="0.000941853244324609 4.23752293585711E-05 0.0136887509763614"
rpy="0 0 0" />
<mass
value="0.0058" />
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ixx="5.26278535682412E-07"
ixy="7.95248676967994E-11"
ixz="2.95064921407231E-08"
iyy="4.32332271890681E-07"
iyz="-3.0538007769026E-11"
izz="2.78531253375634E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/index_middle.STL" />
</geometry>
<material
name="">
<color
rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/index_middle.STL" />
</geometry>
</collision>
</link>
<joint
name="index_pip"
type="revolute">
<origin
xyz="-0.0044047 0 0.039781"
rpy="0 -0.0165520844592506 0" />
<parent
link="index_proximal" />
<child
link="index_middle" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.64060689"
effort="0.49"
velocity="2.18" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="index_distal">
<inertial>
<origin
xyz="-0.0080474 1.295E-05 0.0063476"
rpy="0 0 0" />
<mass
value="0.0111" />
<inertia
ixx="7.595159811E-07"
ixy="-7.071503292E-10"
ixz="-1.8935343628E-07"
iyy="7.718345132E-07"
iyz="2.3845158565E-09"
izz="3.4268824569E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/index_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.29804 0.29804 0.29804 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/index_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="index_dip"
type="revolute">
<origin
xyz="0.0058514 0 0.026478"
rpy="0 0 0" />
<parent
link="index_middle" />
<child
link="index_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.33653122281312"
effort="1"
velocity="1" />
<dynamics
damping="0.075"
friction="0.005" />
<mimic
joint="index_pip"
multiplier="0.796017624916838"
offset="0" />
</joint>
<link
name="thumb_metacarpals_base1">
<inertial>
<origin
xyz="0.0238985466280863 8.49428721829831E-05 0.00143586847117128"
rpy="0 0 0" />
<mass
value="0.032" />
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ixx="7.61971957468385E-06"
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izz="4.36158632191254E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals_base1.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals_base1.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_cmc_roll"
type="revolute">
<origin
xyz="-0.00148 0.022278 0.04025"
rpy="-1.72280695039552 0 0" />
<parent
link="base_link" />
<child
link="thumb_metacarpals_base1" />
<axis
xyz="1 0 0" />
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lower="0"
upper="0.71877769"
effort="0.49"
velocity="2.15" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="thumb_metacarpals_base2">
<inertial>
<origin
xyz="0.00144111904824129 -0.00076972479422515 0.0110530838934258"
rpy="0 0 0" />
<mass
value="0.0154" />
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ixx="1.49975159805594E-06"
ixy="6.14948760921004E-09"
ixz="2.94710079786787E-08"
iyy="9.44542088110474E-07"
iyz="-2.01816524085327E-07"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals_base2.STL" />
</geometry>
<material
name="">
<color
rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
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</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals_base2.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_cmc_yaw"
type="revolute">
<origin
xyz="0.029071 4.9998E-05 0.0033014"
rpy="0 0.892080684149347 0" />
<parent
link="thumb_metacarpals_base1" />
<child
link="thumb_metacarpals_base2" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="0.97771721"
effort="0.49"
velocity="1.24" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="thumb_metacarpals">
<inertial>
<origin
xyz="0.00249198419868435 0.000126914318374638 0.0270122621043989"
rpy="0 0 0" />
<mass
value="0.0792" />
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ixx="3.0322840108832E-05"
ixy="4.29374022282374E-08"
ixz="4.29797271959027E-07"
iyy="3.76985272267388E-05"
iyz="-5.29253620352027E-08"
izz="9.49589868160643E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_cmc_pitch"
type="revolute">
<origin
xyz="0.0016774 -0.0068611 0.022935"
rpy="0 0.66442 -1.5708" />
<parent
link="thumb_metacarpals_base2" />
<child
link="thumb_metacarpals" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="0.5883296"
effort="0.74"
velocity="0.11" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="thumb_proximal">
<inertial>
<origin
xyz="-0.0023803618469958 0.000356679953015498 0.0132497758448504"
rpy="0 0 0" />
<mass
value="0.0177" />
<inertia
ixx="1.53379874098712E-06"
ixy="2.71020185597559E-09"
ixz="2.0986051110036E-07"
iyy="2.07524473343508E-06"
iyz="1.53138752534744E-08"
izz="9.88807296623356E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_mcp"
type="revolute">
<origin
xyz="0.0067825 0 0.055819"
rpy="0 0.119513954131638 0" />
<parent
link="thumb_metacarpals" />
<child
link="thumb_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.18630203"
effort="0.74"
velocity="1.68" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="thumb_distal">
<inertial>
<origin
xyz="-0.0008645 -4.3813E-07 0.011072"
rpy="0 0 0" />
<mass
value="0.0118" />
<inertia
ixx="1.1027758638E-06"
ixy="-4.2809309036E-11"
ixz="-1.9073046928E-07"
iyy="1.0151187748E-06"
iyz="-3.336292687E-11"
izz="6.2979666568E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.29804 0.29804 0.29804 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/thumb_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_dip"
type="revolute">
<origin
xyz="-0.0027408 0 0.034616"
rpy="0 0 0" />
<parent
link="thumb_proximal" />
<child
link="thumb_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.31"
effort="1"
velocity="1" />
<dynamics
damping="0.075"
friction="0.005" />
<mimic
joint="thumb_mcp"
multiplier="1.10209286247281"
offset="0" />
</joint>
<link
name="pinky_proximal">
<inertial>
<origin
xyz="-0.00172922550301519 -9.82074263994326E-06 0.0192977931268597"
rpy="0 0 0" />
<mass
value="0.0202" />
<inertia
ixx="2.88029705326746E-06"
ixy="-5.93805389957045E-10"
ixz="-1.07627671885494E-07"
iyy="3.18262264913506E-06"
iyz="1.88039230059213E-09"
izz="6.22737208693843E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/pinky_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/pinky_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="pinky_mcp_pitch"
type="revolute">
<origin
xyz="0.0001598 -0.033576 0.11272"
rpy="0 0.0309158718952445 0" />
<parent
link="base_link" />
<child
link="pinky_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.46229424"
effort="0.77"
velocity="1.86" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="pinky_middle">
<inertial>
<origin
xyz="0.00110260964201986 1.01987498332679E-06 0.0136767611241538"
rpy="0 0 0" />
<mass
value="0.0058" />
<inertia
ixx="5.25548613845973E-07"
ixy="8.0386277463163E-11"
ixz="3.24083698851051E-08"
iyy="4.3233056388612E-07"
iyz="-3.07046702134225E-11"
izz="2.7925831602385E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/pinky_middle.STL" />
</geometry>
<material
name="">
<color
rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/pinky_middle.STL" />
</geometry>
</collision>
</link>
<joint
name="pinky_pip"
type="revolute">
<origin
xyz="-0.0039371 0 0.03983"
rpy="0 0 0" />
<parent
link="pinky_proximal" />
<child
link="pinky_middle" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.57"
effort="1"
velocity="1" />
<dynamics
damping="0.075"
friction="0.005" />
<mimic
joint="pinky_mcp_pitch"
multiplier="1.05130688335338"
offset="0" />
</joint>
<link
name="pinky_distal">
<inertial>
<origin
xyz="-0.0079723 -2.8447E-05 0.0064416"
rpy="0 0 0" />
<mass
value="0.0111" />
<inertia
ixx="7.639392378E-07"
ixy="-6.789461225E-10"
ixz="-1.8440224249E-07"
iyy="7.718345132E-07"
iyz="2.3925537176E-09"
izz="3.3829828232E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/pinky_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.29804 0.29804 0.29804 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/pinky_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="pinky_dip"
type="revolute">
<origin
xyz="0.006162 0 0.026407"
rpy="0 0 0" />
<parent
link="pinky_middle" />
<child
link="pinky_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.31"
effort="1"
velocity="1" />
<dynamics
damping="0.075"
friction="0.005" />
<mimic
joint="pinky_pip"
multiplier="0.852"
offset="0" />
</joint>
<link
name="ring_proximal">
<inertial>
<origin
xyz="-0.00172922550301519 -9.82074263994326E-06 0.0163977931268597"
rpy="0 0 0" />
<mass
value="0.0202" />
<inertia
ixx="3.31628965409077E-06"
ixy="-6.83690131552215E-10"
ixz="-1.23919348652889E-07"
iyy="3.66437848909659E-06"
iyz="2.16502861224382E-09"
izz="7.17001380140977E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/ring_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/ring_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="ring_mcp_pitch"
type="revolute">
<origin
xyz="0.0001598 -0.013518 0.11972"
rpy="0 0.0309158718952445 0" />
<parent
link="base_link" />
<child
link="ring_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.38"
effort="0.77"
velocity="1.86" />
<dynamics
damping="0.075"
friction="0.005" />
</joint>
<link
name="ring_middle">
<inertial>
<origin
xyz="0.0011025863165428 9.99259520961804E-07 0.0136767566654282"
rpy="0 0 0" />
<mass
value="0.0058" />
<inertia
ixx="5.25550078268173E-07"
ixy="7.97767209213879E-11"
ixz="3.24082898309213E-08"
iyy="4.32331438943549E-07"
iyz="-3.09439310137463E-11"
izz="2.79258361138016E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/ring_middle.STL" />
</geometry>
<material
name="">
<color
rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/ring_middle.STL" />
</geometry>
</collision>
</link>
<joint
name="ring_pip"
type="revolute">
<origin
xyz="-0.0039371 0 0.03983"
rpy="0 0 0" />
<parent
link="ring_proximal" />
<child
link="ring_middle" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.54"
effort="0"
velocity="0" />
<dynamics
damping="0.075"
friction="0.005" />
<mimic
joint="ring_mcp_pitch"
multiplier="1.125"
offset="0" />
</joint>
<link
name="ring_distal">
<inertial>
<origin
xyz="-0.0079723 -2.8447E-05 0.0064416"
rpy="0 0 0" />
<mass
value="0.0111" />
<inertia
ixx="7.639392378E-07"
ixy="-6.789461225E-10"
ixz="-1.8440224249E-07"
iyy="7.718345132E-07"
iyz="2.3924586938E-09"
izz="3.3829828232E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/ring_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.29804 0.29804 0.29804 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://linkerhand_o12_t3_right/meshes/ring_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="ring_dip"
type="revolute">
<origin
xyz="0.006162 0 0.026407"
rpy="0 0 0" />
<parent
link="ring_middle" />
<child
link="ring_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.31"
effort="1"
velocity="1" />
<dynamics
damping="0.075"
friction="0.005" />
<mimic
joint="ring_pip"
multiplier="0.83"
offset="0" />
</joint>
</robot>
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