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