Codex Upload
1187 lines
28 KiB
XML
1187 lines
28 KiB
XML
<?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_O30i_right.urdf">
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<link
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name="hand_base_link">
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<inertial>
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<origin
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xyz="0.043952 0.014169 0.022868"
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rpy="0 0 0" />
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<mass
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value="0.046494" />
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<inertia
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ixx="2.6054E-05"
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ixy="-4.7068E-07"
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ixz="2.1277E-06"
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iyy="5.2487E-05"
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iyz="2.7986E-06"
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izz="3.1143E-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>
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<material
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name="">
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<color
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rgba="0.6902 0.6902 0.6902 1" />
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</material>
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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="thumb_metacarpals_base1">
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<inertial>
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<origin
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xyz="-0.010316 0.0066586 -0.0024476"
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rpy="0 0 0" />
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<mass
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value="0.0024826" />
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<inertia
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ixx="1.6045E-07"
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ixy="-2.6684E-08"
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ixz="-1.7024E-08"
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iyy="1.7121E-07"
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iyz="-2.6748E-08"
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izz="2.3246E-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>
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<mesh
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filename="meshes/thumb_metacarpals_base1.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.6 0.4 0.2 1" />
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</material>
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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/thumb_metacarpals_base1.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="thumb_cmc_roll"
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type="revolute">
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<origin
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xyz="0.018257 0.012998 0.024272"
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rpy="-0.127873356824437 0 0" />
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<parent
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link="hand_base_link" />
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<child
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link="thumb_metacarpals_base1" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="0"
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upper="0.924435406161396"
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effort="1"
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velocity="1" />
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</joint>
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<link
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name="thumb_metacarpals_base2">
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<inertial>
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<origin
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xyz="0.00038148 0.0076809 0.0021853"
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rpy="0 0 0" />
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<mass
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value="0.0011821" />
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<inertia
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ixx="3.9644E-08"
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ixy="2.1365E-10"
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ixz="7.766E-11"
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iyy="1.569E-08"
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iyz="-7.7096E-09"
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izz="3.6362E-08" />
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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/thumb_metacarpals_base2.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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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/thumb_metacarpals_base2.STL" />
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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" rpy="0 0 -0.0628833153583699" />
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<parent link="thumb_metacarpals_base1" />
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<child link="thumb_metacarpals_base2" />
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<axis xyz="0 0 -1" />
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<limit lower="0" upper="2.02274509409686" effort="1" velocity="1" />
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</joint>
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<link
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name="thumb_proximal">
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<inertial>
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<origin
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xyz="3.6654E-06 0.023946 -0.0037436"
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rpy="0 0 0" />
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<mass
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value="0.0073969" />
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<inertia
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ixx="1.1793E-06"
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ixy="1.3736E-10"
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ixz="-9.6655E-11"
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iyy="6.5357E-07"
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iyz="-5.8031E-08"
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izz="1.0764E-06" />
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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/thumb_proximal.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.33333 0.6902 1 1" />
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</material>
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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/thumb_proximal.STL" />
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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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<parent link="thumb_metacarpals_base2" />
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<child link="thumb_proximal" />
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<axis xyz="1 0 0" />
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<limit lower="0" upper="1.96128607555954" effort="1" velocity="1" />
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</joint>
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<link
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name="thumb_distal">
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<inertial>
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<origin
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xyz="2.0498E-05 0.02017 -0.00424"
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rpy="0 0 0" />
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<mass
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value="0.0079712" />
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<inertia
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ixx="8.2871E-07"
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ixy="-4.2596E-11"
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ixz="-2.569E-11"
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iyy="3.2681E-07"
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iyz="2.6339E-08"
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izz="8.3897E-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>
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<mesh
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filename="meshes/thumb_distal.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.4 0.4 0.4 1" />
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</material>
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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/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="thumb_ip"
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type="revolute">
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<origin
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xyz="0 0.048532 0.00155"
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rpy="0 0 0" />
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<parent
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link="thumb_proximal" />
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<child
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link="thumb_distal" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="0"
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upper="1.49192531330309"
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effort="1"
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velocity="1" />
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</joint>
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<link
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name="index_metacarpals">
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<inertial>
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<origin
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xyz="-0.0106040258094052 -5.13953894481882E-05 -0.00136151819442749"
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rpy="0 0 0" />
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<mass
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value="0.00661261244742178" />
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<inertia
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ixx="4.53652866123246E-07"
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ixy="1.66679020586885E-08"
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ixz="-1.26712149811549E-08"
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iyy="5.30500427518365E-07"
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iyz="4.56960905410225E-10"
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izz="2.56538210441828E-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>
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<mesh
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filename="meshes/index_metacarpals.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.286274509803922 1 0.196078431372549 1" />
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</material>
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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/index_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="index_mcp_roll"
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type="revolute">
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<origin
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xyz="0.018722 0.029679 0.075158"
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rpy="0 0 0" />
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<parent
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link="hand_base_link" />
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<child
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link="index_metacarpals" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="-0.434511467865509"
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upper="0"
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effort="1.0"
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velocity="1.0" />
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</joint>
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<link
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name="index_proximal">
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<inertial>
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<origin
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xyz="-0.0043709621275504 2.16385333159826E-05 0.0216063163265681"
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rpy="0 0 0" />
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<mass
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value="0.00727256326100808" />
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<inertia
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ixx="6.59424988535241E-07"
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ixy="1.15369816881374E-10"
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ixz="-2.43455022025729E-08"
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iyy="7.06690330759988E-07"
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iyz="-1.75709839767273E-10"
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izz="3.18019337389962E-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>
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<mesh
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filename="meshes/index_proximal.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.690196078431373 0.690196078431373 0.690196078431373 1" />
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</material>
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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/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="index_mcp_pitch"
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type="revolute">
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<origin
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xyz="-0.00475 0.00059587 0.016238"
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rpy="0 -0.0260285581302788 0" />
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<parent
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link="index_metacarpals" />
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<child
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link="index_proximal" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="0.0"
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upper="1.73118857627559"
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effort="1.0"
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velocity="1.0" />
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</joint>
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<link
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name="index_middle">
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<inertial>
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<origin
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xyz="-0.00412829489374895 4.33935129848899E-05 0.0217078554898162"
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rpy="0 0 0" />
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<mass
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value="0.00678023137976301" />
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<inertia
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ixx="6.77930682969668E-07"
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ixy="1.0022443161073E-10"
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ixz="-7.34914379088131E-09"
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iyy="7.24200285246171E-07"
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iyz="6.8455968172179E-11"
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izz="2.95854297824364E-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>
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<mesh
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filename="meshes/index_middle.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.690196078431373 0.690196078431373 0.690196078431373 1" />
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</material>
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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/index_middle.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="index_pip"
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type="revolute">
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<origin
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xyz="0 0 0.039681"
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rpy="0 0.0290749370811219 0" />
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<parent
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link="index_proximal" />
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<child
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link="index_middle" />
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<axis
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xyz="0 1 0" />
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<limit
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lower="0.0"
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upper="1.49818560722688"
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effort="1.0"
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velocity="1.0" />
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</joint>
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<link
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name="index_distal">
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|
<inertial>
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|
<origin
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xyz="-0.00405260592933677 2.92010642392003E-05 0.0113571507781909"
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rpy="0 0 0" />
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<mass
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value="0.0033098791304967" />
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<inertia
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|
ixx="1.64002168413707E-07"
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ixy="-3.45038659319342E-12"
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ixz="-9.24432368435003E-09"
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iyy="1.74779055176355E-07"
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iyz="3.79661625368079E-12"
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izz="1.1460476210935E-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>
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<mesh
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filename="meshes/index_distal.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.6 0.4 0.2 1" />
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</material>
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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/index_distal.STL" />
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</geometry>
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</collision>
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</link>
|
|
<joint
|
|
name="index_dip"
|
|
type="revolute">
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|
<origin
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|
xyz="0 0 0.040244"
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|
rpy="0 0 0" />
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|
<parent
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|
link="index_middle" />
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|
<child
|
|
link="index_distal" />
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|
<axis
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|
xyz="0 1 0" />
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|
<limit
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|
lower="0.0"
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|
upper="1.37273400535361"
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|
effort="1.0"
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|
velocity="1.0" />
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|
</joint>
|
|
<link
|
|
name="middle_metacarpals">
|
|
<inertial>
|
|
<origin
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|
xyz="-0.0106040258093801 -5.13953895135309E-05 -0.00136151819462214"
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|
rpy="0 0 0" />
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|
<mass
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|
value="0.00661261244742176" />
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|
<inertia
|
|
ixx="4.53652866122421E-07"
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|
ixy="1.6667902059155E-08"
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|
ixz="-1.26712149847738E-08"
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iyy="5.30500427517202E-07"
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iyz="4.5696090563867E-10"
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|
izz="2.56538210441734E-07" />
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</inertial>
|
|
<visual>
|
|
<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/middle_metacarpals.STL" />
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|
</geometry>
|
|
<material
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|
name="">
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|
<color
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rgba="0.4 0.2 0.8 1" />
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|
</material>
|
|
</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/middle_metacarpals.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="middle_mcp_roll"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.018722 0.0086937 0.081586"
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|
rpy="0 0 0" />
|
|
<parent
|
|
link="hand_base_link" />
|
|
<child
|
|
link="middle_metacarpals" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.499206866497031"
|
|
upper="0.148033492259856"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="middle_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00437096211453991 2.16385377681651E-05 0.021606316263903"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00727256322379252" />
|
|
<inertia
|
|
ixx="6.59424984533755E-07"
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|
ixy="1.15369786907248E-10"
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|
ixz="-2.43455017911397E-08"
|
|
iyy="7.06690325324724E-07"
|
|
iyz="-1.75709424177874E-10"
|
|
izz="3.18019338775399E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.690196078431373 0.690196078431373 0.690196078431373 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="middle_mcp_pitch"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00475 0.00059587 0.016238"
|
|
rpy="0 -0.03821323651149 0" />
|
|
<parent
|
|
link="middle_metacarpals" />
|
|
<child
|
|
link="middle_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0.0"
|
|
upper="1.66308654227213"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="middle_middle">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00416491190892752 4.53802720945468E-05 0.0183968023027694"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00558395826725584" />
|
|
<inertia
|
|
ixx="6.23566979572116E-07"
|
|
ixy="1.48661311147268E-12"
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|
ixz="9.71608105955063E-09"
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|
iyy="6.62874748143871E-07"
|
|
iyz="-1.95417713888735E-11"
|
|
izz="2.52254263414512E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_middle.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.690196078431373 0.690196078431373 0.690196078431373 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_middle.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="middle_pip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.039681"
|
|
rpy="0 0.0364098897290348 0" />
|
|
<parent
|
|
link="middle_proximal" />
|
|
<child
|
|
link="middle_middle" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0.0"
|
|
upper="1.45607089453082"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="middle_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.0040526080066767 2.92015397774141E-05 0.0113571741521581"
|
|
rpy="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"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.6 0.4 0.2 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_distal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="middle_dip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.040244"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="middle_middle" />
|
|
<child
|
|
link="middle_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0.0"
|
|
upper="1.42783903497856"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="ring_metacarpals">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.0106040258039409 -5.13953875669396E-05 -0.00136151819474453"
|
|
rpy="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"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_metacarpals.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.286274509803922 1 0.196078431372549 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_metacarpals.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="ring_mcp_roll"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.018722 -0.012188 0.079218"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="hand_base_link" />
|
|
<child
|
|
link="ring_metacarpals" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.249111863015287"
|
|
upper="0.262562840623171"
|
|
effort="0.0"
|
|
velocity="0.0" />
|
|
</joint>
|
|
<link
|
|
name="ring_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00437096212848108 2.16385332126728E-05 0.0216063163327438"
|
|
rpy="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"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.690196078431373 0.690196078431373 0.690196078431373 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="ring_mcp_pitch"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00475 0.00059587 0.016238"
|
|
rpy="0 -0.0420356467907244 0" />
|
|
<parent
|
|
link="ring_metacarpals" />
|
|
<child
|
|
link="ring_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0.0"
|
|
upper="1.76640534980352"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="ring_middle">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00416491192838481 4.53802663086568E-05 0.0183968024169422"
|
|
rpy="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"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_middle.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.690196078431373 0.690196078431373 0.690196078431373 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_middle.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="ring_pip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.039681"
|
|
rpy="0 0.044490155101591 0" />
|
|
<parent
|
|
link="ring_proximal" />
|
|
<child
|
|
link="ring_middle" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0.0"
|
|
upper="1.47104313916808"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="ring_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00405260742568393 2.91984265882485E-05 0.0113571618103905"
|
|
rpy="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"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.6 0.4 0.2 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_distal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="ring_dip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.040244"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="ring_middle" />
|
|
<child
|
|
link="ring_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0.0"
|
|
upper="1.41798725489833"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="pinky_metacarpals">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.0106040258039376 -5.13953875944106E-05 -0.00136151819476814"
|
|
rpy="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"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_metacarpals.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.4 0.2 0.8 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_metacarpals.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="pinky_mcp_roll"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.018722 -0.030927 0.067761"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="hand_base_link" />
|
|
<child
|
|
link="pinky_metacarpals" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.0989980424491418"
|
|
upper="0.322616311036501"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="pinky_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00437096211497169 2.16385374772129E-05 0.0216063162659534"
|
|
rpy="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"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.690196078431373 0.690196078431373 0.690196078431373 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="pinky_mcp_pitch"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00475 0.00059587 0.016238"
|
|
rpy="0 -0.0465089745787304 0" />
|
|
<parent
|
|
link="pinky_metacarpals" />
|
|
<child
|
|
link="pinky_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0.0"
|
|
upper="1.77873979730284"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="pinky_middle">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00412829488912096 4.33935004629793E-05 0.0217078554135159"
|
|
rpy="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"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_middle.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.690196078431373 0.690196078431373 0.690196078431373 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_middle.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="pinky_pip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.039681"
|
|
rpy="0 0.0466259372769993 0" />
|
|
<parent
|
|
link="pinky_proximal" />
|
|
<child
|
|
link="pinky_middle" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0.0"
|
|
upper="1.48539110187787"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
<link
|
|
name="pinky_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00405259886775996 2.91983586506936E-05 0.0113571520424041"
|
|
rpy="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"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.6 0.4 0.2 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_distal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="pinky_dip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.040244"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="pinky_middle" />
|
|
<child
|
|
link="pinky_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0.0"
|
|
upper="1.49087325932603"
|
|
effort="1.0"
|
|
velocity="1.0" />
|
|
</joint>
|
|
</robot> |