957 lines
22 KiB
XML
957 lines
22 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<robot
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name="linkerhand_l6v3.1_left">
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<!-- 手掌基座，作为整只手的根链接 -->
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<link
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name="lh_hand_base_link">
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<inertial>
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<origin
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xyz="0.00199 -0.00091 0.058381"
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rpy="0 0 0" />
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<mass
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value="0.4185" />
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<inertia
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ixx="0.0004998"
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ixy="0.000012853"
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ixz="-0.000008317"
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iyy="0.0003567"
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iyz="0.000010354"
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izz="0.0002301" />
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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="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_thumb_metacarpals_base1">
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<inertial>
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<origin
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xyz="0.0018663 -0.0066406 0.001533"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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<inertia
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ixx="3.3724E-07"
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ixy="1.11E-07"
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ixz="-3.6039E-08"
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iyy="2.9457E-07"
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iyz="5.7181E-08"
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izz="4.903E-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="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_thumb_cmc_roll"
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type="revolute">
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<origin
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xyz="0.0078133 -0.029898 0.026692"
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rpy="-0.0349060486431202 -0.000257767554592503 -0.00738147635662772" />
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<parent
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link="lh_hand_base_link" />
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<child
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link="lh_thumb_metacarpals_base1" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="0"
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upper="1.12177324"
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effort="0.588"
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velocity="5.95" />
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<dynamics damping="0.02" friction="0.05416667"/>
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</joint>
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<link
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name="lh_thumb_metacarpals">
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<inertial>
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<origin
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xyz="0.00769270907060086 0.0859662184722988 0.0235283086675235"
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rpy="0 0 0" />
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<mass
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value="0.065" />
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<inertia
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ixx="8.407E-06"
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ixy="-1.1338E-09"
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ixz="1.1136E-08"
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iyy="8.3899E-06"
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iyz="3.1171E-07"
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izz="2.0091E-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_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="0.796078431372549 0.823529411764706 0.937254901960784 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.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="lh_thumb_cmc_pitch"
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type="revolute">
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<origin
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xyz="0.0057298 -0.01332 0.0027456"
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rpy="1.01778644 0 0.40143" />
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<parent
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link="lh_thumb_metacarpals_base1" />
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<child
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link="lh_thumb_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"
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upper="0.65673088"
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effort="1.008"
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velocity="3.47" />
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<dynamics damping="0.02" friction="0.0375"/>
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</joint>
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<link
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name="lh_thumb_distal">
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<inertial>
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<origin
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xyz="0.00769270907081708 0.0798662184721594 -0.0591716913325555"
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rpy="0 0 0" />
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<mass
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value="0.018" />
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<inertia
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ixx="1.5546E-06"
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ixy="2.4423E-09"
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ixz="2.8147E-09"
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iyy="1.7108E-06"
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iyz="-7.2756E-08"
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izz="9.1709E-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="0.796078431372549 0.823529411764706 0.937254901960784 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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<link
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name="lh_thumb_tip">
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<inertial>
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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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<mass
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value="1e-06" />
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<inertia
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ixx="1e-09"
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ixy="0"
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ixz="0"
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iyy="1e-09"
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iyz="0"
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izz="1e-09" />
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</inertial>
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</link>
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<joint
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name="lh_thumb_tip_fixed"
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type="fixed">
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<origin
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xyz="0 0.0035 0.026"
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rpy="0 0 1.5708" />
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<parent
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link="lh_thumb_distal" />
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<child
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link="lh_thumb_tip" />
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</joint>
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<joint
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name="lh_thumb_dip"
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type="revolute">
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<origin
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xyz="0 0.0061 0.0827"
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rpy="0 0 0" />
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<parent
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link="lh_thumb_metacarpals" />
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<child
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link="lh_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="0.963287"
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effort="0"
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velocity="1.7" />
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<mimic
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joint="lh_thumb_cmc_pitch"
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multiplier="0.88524192477979"
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offset="0" />
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</joint>
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<link
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name="lh_index_proximal">
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<inertial>
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<origin
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xyz="0.001776 -0.00011 0.012556"
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rpy="0 0 0" />
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<mass
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value="0.008553" />
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<inertia
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ixx="0.000000797543"
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ixy="-0.000000001275"
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ixz="0.000000138601"
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iyy="0.000000800499"
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iyz="0.000000000939"
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izz="0.000000357001" />
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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="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_index_mcp_pitch"
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type="revolute">
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<origin
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xyz="-0.00066821 -0.028967 0.11722"
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rpy="0 0 0" />
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<parent
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link="lh_hand_base_link" />
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<child
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link="lh_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"
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upper="1.23208487"
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effort="0.574"
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velocity="6.10" />
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<dynamics damping="0.01" friction="0.04"/>
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</joint>
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<link
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name="lh_index_distal">
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<inertial>
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<origin
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xyz="0.0134 0.002262 0.016992"
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rpy="0 0 0" />
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<mass
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value="0.018408" />
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<inertia
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ixx="0.000002488712"
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ixy="0.000000008249"
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ixz="-0.000001523059"
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iyy="0.000003723754"
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iyz="0.000000014019"
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izz="0.000001813582" />
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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="0.796078431372549 0.823529411764706 0.937254901960784 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>
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<link
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name="lh_index_tip">
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<inertial>
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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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<mass
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value="1e-06" />
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<inertia
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ixx="1e-09"
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ixy="0"
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ixz="0"
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iyy="1e-09"
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iyz="0"
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izz="1e-09" />
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</inertial>
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</link>
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<joint
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name="lh_index_tip_fixed"
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type="fixed">
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<origin
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xyz="0.0341 0 0.034"
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rpy="0 0 0" />
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<parent
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link="lh_index_distal" />
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<child
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link="lh_index_tip" />
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</joint>
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<joint
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name="lh_index_dip"
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type="revolute">
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<origin
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xyz="0.00093749 0 0.028002"
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rpy="0 0 0" />
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<parent
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link="lh_index_proximal" />
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<child
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link="lh_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"
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upper="1.277039"
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effort="0"
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velocity="3.1" />
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<mimic
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joint="lh_index_mcp_pitch"
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multiplier="0.923280528556446"
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offset="0" />
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</joint>
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<link
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name="lh_middle_proximal">
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<inertial>
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<origin
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xyz="0.001776 -0.00011 0.012556"
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rpy="0 0 0" />
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<mass
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value="0.008553" />
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<inertia
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ixx="0.000000797543"
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ixy="-0.000000001275"
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ixz="0.000000138601"
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iyy="0.000000800499"
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iyz="0.000000000939"
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izz="0.000000357001" />
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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/middle_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="0.796078431372549 0.823529411764706 0.937254901960784 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/middle_proximal.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="lh_middle_mcp_pitch"
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type="revolute">
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<origin
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xyz="-0.00066821 -0.0089013 0.12322"
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rpy="0 0 0" />
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<parent
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link="lh_hand_base_link" />
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<child
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link="lh_middle_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"
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upper="1.23208487"
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effort="0.574"
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velocity="6.10" />
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<dynamics damping="0.01" friction="0.02708333"/>
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</joint>
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<link
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name="lh_middle_distal">
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<inertial>
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<origin
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xyz="0.0134 0.002262 0.016992"
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rpy="0 0 0" />
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<mass
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value="0.018408" />
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<inertia
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ixx="0.000002488712"
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ixy="0.000000008249"
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ixz="-0.000001523059"
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iyy="0.000003723754"
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iyz="0.000000014019"
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izz="0.000001813582" />
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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/middle_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="0.796078431372549 0.823529411764706 0.937254901960784 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/middle_distal.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="lh_middle_tip">
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<inertial>
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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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<mass
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value="1e-06" />
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<inertia
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ixx="1e-09"
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ixy="0"
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ixz="0"
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iyy="1e-09"
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iyz="0"
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izz="1e-09" />
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</inertial>
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</link>
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<joint
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name="lh_middle_tip_fixed"
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type="fixed">
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<origin
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xyz="0.0341 0 0.034"
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rpy="0 0 0" />
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<parent
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link="lh_middle_distal" />
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<child
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link="lh_middle_tip" />
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</joint>
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<joint
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name="lh_middle_dip"
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type="revolute">
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<origin
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xyz="0.00093749 0 0.028002"
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rpy="0 0 0" />
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<parent
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link="lh_middle_proximal" />
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<child
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link="lh_middle_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"
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upper="1.277039"
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effort="0"
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velocity="3.1" />
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<mimic
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joint="lh_middle_mcp_pitch"
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multiplier="0.923280528556446"
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offset="0" />
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</joint>
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<link
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name="lh_ring_proximal">
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<inertial>
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<origin
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xyz="0.001776 -0.00011 0.012556"
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rpy="0 0 0" />
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<mass
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value="0.008553" />
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<inertia
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ixx="0.000000797543"
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|
ixy="-0.000000001275"
|
|
ixz="0.000000138601"
|
|
iyy="0.000000800499"
|
|
iyz="0.000000000939"
|
|
izz="0.000000357001" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_proximal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="lh_ring_mcp_pitch"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00067368 0.010717 0.11822"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="lh_hand_base_link" />
|
|
<child
|
|
link="lh_ring_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.23208487"
|
|
effort="0.574"
|
|
velocity="6.10" />
|
|
<dynamics damping="0.01" friction="0.02291667"/>
|
|
</joint>
|
|
<link
|
|
name="lh_ring_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0134 0.002262 0.016992"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.018408" />
|
|
<inertia
|
|
ixx="0.000002488712"
|
|
ixy="0.000000008249"
|
|
ixz="-0.000001523059"
|
|
iyy="0.000003723754"
|
|
iyz="0.000000014019"
|
|
izz="0.000001813582" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_distal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link
|
|
name="lh_ring_tip">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1e-06" />
|
|
<inertia
|
|
ixx="1e-09"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="1e-09"
|
|
iyz="0"
|
|
izz="1e-09" />
|
|
</inertial>
|
|
</link>
|
|
<joint
|
|
name="lh_ring_tip_fixed"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.0341 0 0.034"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="lh_ring_distal" />
|
|
<child
|
|
link="lh_ring_tip" />
|
|
</joint>
|
|
<joint
|
|
name="lh_ring_dip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00093749 0 0.028002"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="lh_ring_proximal" />
|
|
<child
|
|
link="lh_ring_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.277039"
|
|
effort="0"
|
|
velocity="3.1" />
|
|
<mimic
|
|
joint="lh_ring_mcp_pitch"
|
|
multiplier="0.923280528556446"
|
|
offset="0" />
|
|
</joint>
|
|
<link
|
|
name="lh_pinky_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.001776 -0.00011 0.012556"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.008553" />
|
|
<inertia
|
|
ixx="0.000000797543"
|
|
ixy="-0.000000001275"
|
|
ixz="0.000000138601"
|
|
iyy="0.000000800499"
|
|
iyz="0.000000000939"
|
|
izz="0.000000357001" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_proximal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="lh_pinky_mcp_pitch"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00067852 0.029814 0.11424"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="lh_hand_base_link" />
|
|
<child
|
|
link="lh_pinky_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.23208487"
|
|
effort="0.574"
|
|
velocity="6.10" />
|
|
<dynamics damping="0.01" friction="0.01"/>
|
|
</joint>
|
|
<link
|
|
name="lh_pinky_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0134 0.002262 0.016992"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.018408" />
|
|
<inertia
|
|
ixx="0.000002488712"
|
|
ixy="0.000000008249"
|
|
ixz="-0.000001523059"
|
|
iyy="0.000003723754"
|
|
iyz="0.000000014019"
|
|
izz="0.000001813582" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_distal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link
|
|
name="lh_pinky_tip">
|
|
<inertial>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1e-06" />
|
|
<inertia
|
|
ixx="1e-09"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="1e-09"
|
|
iyz="0"
|
|
izz="1e-09" />
|
|
</inertial>
|
|
</link>
|
|
<joint
|
|
name="lh_pinky_tip_fixed"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.0341 0 0.034"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="lh_pinky_distal" />
|
|
<child
|
|
link="lh_pinky_tip" />
|
|
</joint>
|
|
<joint
|
|
name="lh_pinky_dip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00093749 0 0.028002"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="lh_pinky_proximal" />
|
|
<child
|
|
link="lh_pinky_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.277039"
|
|
effort="0"
|
|
velocity="3.1" />
|
|
<mimic
|
|
joint="lh_pinky_mcp_pitch"
|
|
multiplier="0.923280528556446"
|
|
offset="0" />
|
|
</joint>
|
|
<transmission name="trans_thumb_cmc_roll">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="lh_thumb_cmc_roll">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="motor_thumb_cmc_roll">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>0.0084</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_index_mcp_pitch">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="lh_index_mcp_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="motor_index_mcp_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>0.0082</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_middle_mcp_pitch">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="lh_middle_mcp_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="motor_middle_mcp_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>0.0082</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_ring_mcp_pitch">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="lh_ring_mcp_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="motor_ring_mcp_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>0.0082</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_pinky_mcp_pitch">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="lh_pinky_mcp_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="motor_pinky_mcp_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>0.0082</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<transmission name="trans_thumb_cmc_pitch">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="lh_thumb_cmc_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="motor_thumb_cmc_pitch">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>0.0144</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
<mujoco>
|
|
<compiler meshdir="meshes/" balanceinertia="true" discardvisual="false"/>
|
|
<default>
|
|
<joint armature="3.4707e-08" damping="5.0" frictionloss="0.5"/>
|
|
</default>
|
|
<equality>
|
|
<!-- 四指DIP关节的mimic约束 - 统一使用1.125676 -->
|
|
<!-- polycoef格式: c0 c1 c2 c3 c4 c5，关系: q1 = c0 + c1*q2 + c2*q2^2 + ... -->
|
|
<!-- 对于 mimic: q_dip = 0 + 1.125676*q_mcp + 0*q_mcp^2 + ... -->
|
|
<joint name="lh_couple_index" joint1="lh_index_dip" joint2="lh_index_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
|
|
<joint name="lh_couple_middle" joint1="lh_middle_dip" joint2="lh_middle_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
|
|
<joint name="lh_couple_ring" joint1="lh_ring_dip" joint2="lh_ring_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
|
|
<joint name="lh_couple_pinky" joint1="lh_pinky_dip" joint2="lh_pinky_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
|
|
<!-- 大拇指DIP关节的mimic约束 - 使用1.226495 -->
|
|
<joint name="lh_couple_thumb" joint1="lh_thumb_dip" joint2="lh_thumb_cmc_pitch" polycoef="0 0.88524192477979 0 0 0 0"/>
|
|
</equality>
|
|
</mujoco>
|
|
<gazebo reference="lh_hand_base_link">
|
|
<mu1>1.5</mu1>
|
|
<mu2>1.5</mu2>
|
|
<selfCollide>true</selfCollide>
|
|
</gazebo>
|
|
<gazebo reference="lh_thumb_distal">
|
|
<mu1>1.5</mu1>
|
|
<mu2>1.5</mu2>
|
|
<selfCollide>true</selfCollide>
|
|
</gazebo>
|
|
<gazebo reference="lh_index_distal">
|
|
<mu1>1.1</mu1>
|
|
<mu2>1.1</mu2>
|
|
<selfCollide>true</selfCollide>
|
|
</gazebo>
|
|
<gazebo reference="lh_middle_distal">
|
|
<mu1>1.1</mu1>
|
|
<mu2>1.1</mu2>
|
|
<selfCollide>true</selfCollide>
|
|
</gazebo>
|
|
<gazebo reference="lh_ring_distal">
|
|
<mu1>1.1</mu1>
|
|
<mu2>1.1</mu2>
|
|
<selfCollide>true</selfCollide>
|
|
</gazebo>
|
|
<gazebo reference="lh_pinky_distal">
|
|
<mu1>1.1</mu1>
|
|
<mu2>1.1</mu2>
|
|
<selfCollide>true</selfCollide>
|
|
</gazebo>
|
|
</robot>
|