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Linkerbot_URDF/06/LEFT/linkerhand_o6_left_test.urdf
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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_o6_left">
<material name="silver">
<color rgba="0.5 0.5 0.52 1.0"/>
</material>
<material name="BlackAccent">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
<link
name="lh_hand_base_link">
<inertial>
<origin
xyz="-0.00157788568070457 -0.00034876725935859 0.0538452219801211"
rpy="0 0 0" />
<mass
value="0.0672935238166485" />
<inertia
ixx="5.22525212160954E-05"
ixy="3.06955729584715E-07"
ixz="-3.90341166950521E-07"
iyy="3.33522349207724E-05"
iyz="-7.76680063574627E-07"
izz="2.28469461105385E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
</collision>
</link>
<link
name="lh_thumb_metacarpals_base2">
<inertial>
<origin
xyz="0.00162800681276937 -0.0027668017246415 -0.00184234438641236"
rpy="0 0 0" />
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value="0.00138588296544333" />
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ixx="5.26292160685909E-08"
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ixz="-2.43767371295222E-09"
iyy="4.82620491570326E-08"
iyz="3.71869784206147E-09"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals_base2.STL" />
</geometry>
<material name="BlackAccent"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals_base2.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_thumb_cmc_yaw"
type="revolute">
<origin
xyz="0.011508 -0.022975 0.032794"
rpy="0 0 0.167545678324764" />
<parent
link="lh_hand_base_link" />
<child
link="lh_thumb_metacarpals_base2" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="1.2431454"
effort="100"
velocity="1" />
</joint>
<link
name="lh_thumb_metacarpals">
<inertial>
<origin
xyz="4.24816204999817E-05 1.74183907812875E-05 0.0228341640631254"
rpy="0 0 0" />
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value="0.0123381586619931" />
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ixx="1.10292537368909E-06"
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iyz="-4.03963570823777E-10"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_thumb_cmc_pitch"
type="revolute">
<origin
xyz="0.0061649 -0.010678 -0.004891"
rpy="0 -1.1529 2.0944" />
<parent
link="lh_thumb_metacarpals_base2" />
<child
link="lh_thumb_metacarpals" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="0.588901345"
effort="100"
velocity="1" />
</joint>
<link
name="lh_thumb_distal">
<inertial>
<origin
xyz="-0.00413725702921841 -5.90704520436747E-08 0.023011401589736"
rpy="0 0 0" />
<mass
value="0.00763332957284057" />
<inertia
ixx="1.3057487813702E-06"
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iyy="1.2248908905341E-06"
iyz="4.55347974652679E-12"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_thumb_ip"
type="revolute">
<origin
xyz="0.0037776 0 0.045368"
rpy="0 0 0" />
<parent
link="lh_thumb_metacarpals" />
<child
link="lh_thumb_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.16064834"
effort="100"
velocity="1" />
<mimic
joint="lh_thumb_cmc_pitch"
multiplier="1.96832996705076"
offset="0" />
</joint>
<link
name="lh_index_proximal">
<inertial>
<origin
xyz="-0.00208656556336452 2.53838713251686E-06 0.0172734941980264"
rpy="0 0 0" />
<mass
value="0.00253174651934627" />
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ixx="2.65988714157799E-07"
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iyz="1.8756709532167E-10"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_proximal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_index_mcp_pitch"
type="revolute">
<origin
xyz="0.0024758 -0.02419 0.098779"
rpy="0.05236 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_index_proximal" />
<axis
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"
rpy="0 0 0" />
<mass
value="0.00376951085886838" />
<inertia
ixx="3.22347106085043E-07"
ixy="1.3801788663582E-11"
ixz="1.14352857317951E-07"
iyy="3.65328133721509E-07"
iyz="-2.11505011705634E-10"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<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"
effort="100"
velocity="1" />
<mimic
joint="lh_index_mcp_pitch"
multiplier="0.904318245922221"
offset="0" />
</joint>
<link
name="lh_middle_proximal">
<inertial>
<origin
xyz="-0.00208660654138235 2.56918180119303E-06 0.0172735011723351"
rpy="0 0 0" />
<mass
value="0.00253177375206983" />
<inertia
ixx="2.65989021304483E-07"
ixy="-1.69816046635662E-11"
ixz="-4.31046683215273E-08"
iyy="2.72914402745606E-07"
iyz="1.87484652324395E-10"
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</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="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"
effort="100"
velocity="1" />
</joint>
<link
name="lh_middle_distal">
<inertial>
<origin
xyz="0.00658986516319194 5.10862924271716E-06 0.0194393315699782"
rpy="0 0 0" />
<mass
value="0.00376952789210256" />
<inertia
ixx="3.22348591068053E-07"
ixy="1.37122394856588E-11"
ixz="1.1435291391668E-07"
iyy="3.65329535087755E-07"
iyz="-2.10453810291991E-10"
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</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="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"
rpy="0 0 0" />
<mass
value="0.00253182223645066" />
<inertia
ixx="2.65989756076584E-07"
ixy="-1.74912952703656E-11"
ixz="-4.31043325594253E-08"
iyy="2.7291510093393E-07"
iyz="1.87158326740895E-10"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_proximal.STL" />
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<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
name="lh_ring_distal">
<inertial>
<origin
xyz="0.00658986648895491 5.05883528165163E-06 0.019439397215532"
rpy="0 0 0" />
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value="0.00376949588316609" />
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ixx="3.2234524157181E-07"
ixy="1.35766976056011E-11"
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iyy="3.65326570102147E-07"
iyz="-2.08672149138738E-10"
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<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="lh_ring_dip"
type="revolute">
<origin
xyz="-0.0052516 0 0.036625"
rpy="0 0 0" />
<parent
link="lh_ring_proximal" />
<child
link="lh_ring_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.49597186651782"
effort="100"
velocity="1" />
<mimic
joint="lh_ring_mcp_pitch"
multiplier="0.904318245922221"
offset="0" />
</joint>
<link
name="lh_pinky_proximal">
<inertial>
<origin
xyz="-0.00208673599799501 2.68062251165824E-06 0.0172734848131236"
rpy="0 0 0" />
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value="0.00253185993162408" />
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</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="lh_pinky_mcp_pitch"
type="revolute">
<origin
xyz="0.0024758 0.028372 0.092741"
rpy="-0.087266 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_pinky_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.609333425"
effort="100"
velocity="1" />
</joint>
<link
name="lh_pinky_distal">
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xyz="0.00658987588903027 5.03087534178825E-06 0.0194394491065091"
rpy="0 0 0" />
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value="0.00376948071276134" />
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ixx="3.22343583730488E-07"
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
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<material name="silver"/>
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<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_pinky_dip"
type="revolute">
<origin
xyz="-0.0052516 0 0.036625"
rpy="0 0 0" />
<parent
link="lh_pinky_proximal" />
<child
link="lh_pinky_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.49597186651782"
effort="100"
velocity="1" />
<mimic
joint="lh_pinky_mcp_pitch"
multiplier="0.904318245922221"
offset="0" />
</joint>
</robot>
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