1231 lines
30 KiB
XML
1231 lines
30 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_o12_t3_left">
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="-0.00423014363795434 0.00101546757666631 0.0570276174136961"
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rpy="0 0 0" />
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value="0.5043" />
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ixy="6.74779063820338E-07"
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ixz="-1.57870032674821E-05"
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iyz="-1.72290102583609E-05"
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izz="0.00039452297049318" />
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</inertial>
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<visual>
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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="package://linkerhand_o12_t3_left/meshes/base_link.STL" />
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<material
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name="">
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xyz="0 0 0"
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filename="package://linkerhand_o12_t3_left/meshes/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="middle_metacarpals">
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<inertial>
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</inertial>
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xyz="0 0 0"
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filename="package://linkerhand_o12_t3_left/meshes/middle_metacarpals.STL" />
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<geometry>
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filename="package://linkerhand_o12_t3_left/meshes/middle_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="middle_mcp_roll"
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type="revolute">
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<origin
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xyz="-0.0133999999745647 -0.00666067889023505 0.119355702135265"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="middle_metacarpals" />
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<axis
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xyz="1 0 0" />
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<limit
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lower="-0.26"
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upper="0.26"
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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="middle_proximal">
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<inertial>
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<origin
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xyz="-0.00168356886697832 -2.64991674755327E-06 0.0214761836061677"
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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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<geometry>
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<mesh
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filename="package://linkerhand_o12_t3_left/meshes/middle_proximal.STL" />
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<material
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name="">
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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="package://linkerhand_o12_t3_left/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="middle_mcp_pitch"
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type="revolute">
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<origin
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xyz="0.0133698026187091 0 0"
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rpy="0 0 0" />
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<parent
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link="middle_metacarpals" />
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<child
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link="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="1.33"
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effort="1.54"
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velocity="1.84" />
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<dynamics
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damping="0.075"
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friction="0.005" />
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</joint>
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<link
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name="middle_middle">
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<inertial>
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<origin
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xyz="0.000778140926528736 5.18554064587069E-05 0.0163598926819399"
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rpy="0 0 0" />
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<mass
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<inertia
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ixz="4.28380012345678E-08"
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iyy="6.03570012345678E-07"
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iyz="-2.25230012345678E-11"
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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="package://linkerhand_o12_t3_left/meshes/middle_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="0.792156862745098 0.819607843137255 0.933333333333333 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="package://linkerhand_o12_t3_left/meshes/middle_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="middle_pip"
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type="revolute">
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<origin
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xyz="-0.0040395662116266 0 0.0448372524226953"
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rpy="0 0 0" />
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<parent
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link="middle_proximal" />
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<child
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link="middle_middle" />
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<axis
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xyz="0 1 0" />
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<limit
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upper="1.71"
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velocity="2.51" />
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<dynamics
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damping="0.075"
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friction="0.005" />
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</joint>
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<link
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name="middle_distal">
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<inertial>
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<origin
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xyz="-0.00800397840452252 0.000107135378550418 0.0064103480349392"
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<visual>
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xyz="0 0 0"
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<geometry>
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</link>
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<joint
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name="middle_dip"
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type="revolute">
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<origin
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xyz="0.00552899785311657 0 0.0313359630899766"
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rpy="0 0 0" />
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<parent
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link="middle_middle" />
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<child
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link="middle_distal" />
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<axis
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<limit
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<dynamics
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<mimic
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joint="middle_pip"
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multiplier="0.7654"
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offset="0" />
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<link
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name="index_metacarpals">
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<origin
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<dynamics
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name="index_distal">
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<inertial>
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upper="1.31"
|
|
effort="1"
|
|
velocity="1" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
<mimic
|
|
joint="index_pip"
|
|
multiplier="0.8824"
|
|
offset="0" />
|
|
</joint>
|
|
<link
|
|
name="thumb_metacarpals_base1">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0202147711548163 5.31242973791923E-05 -0.000567674587681397"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.032" />
|
|
<inertia
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|
ixx="6.97420012345678E-06"
|
|
ixy="-6.18930012345678E-08"
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|
ixz="2.31030012345678E-07"
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|
iyy="4.69230012345678E-06"
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|
iyz="1.05810012345678E-07"
|
|
izz="3.88310012345678E-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
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|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_metacarpals_base1.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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|
</material>
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|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
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|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_metacarpals_base1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="thumb_cmc_roll"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00148 -0.022278 0.04025"
|
|
rpy="-1.3788 0 0" />
|
|
<parent
|
|
link="base_link" />
|
|
<child
|
|
link="thumb_metacarpals_base1" />
|
|
<axis
|
|
xyz="-1 0 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="0.73"
|
|
effort="0.49"
|
|
velocity="2.15" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
</joint>
|
|
<link
|
|
name="thumb_metacarpals_base2">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00144112665007757 -0.000769684184294059 0.0110530085248739"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0154" />
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|
<inertia
|
|
ixx="1.49968012345678E-06"
|
|
ixy="-6.14310012345678E-09"
|
|
ixz="-2.94760012345678E-08"
|
|
iyy="9.44530012345678E-07"
|
|
iyz="-2.01790012345678E-07"
|
|
izz="7.10120012345678E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
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|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_metacarpals_base2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_metacarpals_base2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="thumb_cmc_yaw"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.029071 -5.0002E-05 -0.0033014"
|
|
rpy="3.1416 1.0996 3.1416" />
|
|
<parent
|
|
link="thumb_metacarpals_base1" />
|
|
<child
|
|
link="thumb_metacarpals_base2" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="0.94"
|
|
effort="0.49"
|
|
velocity="1.24" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
</joint>
|
|
<link
|
|
name="thumb_metacarpals">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00350697087336124 0.000126929735287147 0.0268995297209942"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0792" />
|
|
<inertia
|
|
ixx="3.02600012345678E-05"
|
|
ixy="-4.09200012345678E-08"
|
|
ixz="-1.21240012345678E-06"
|
|
iyy="3.77000012345678E-05"
|
|
iyz="-5.47200012345678E-08"
|
|
izz="9.55800012345678E-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_metacarpals.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_metacarpals.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="thumb_cmc_pitch"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00167735705287196 -0.00686106136997823 0.0229350441674369"
|
|
rpy="0 -0.626758238351169 1.57079577429954" />
|
|
<parent
|
|
link="thumb_metacarpals_base2" />
|
|
<child
|
|
link="thumb_metacarpals" />
|
|
<axis
|
|
xyz="0 -1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="0.85"
|
|
effort="0.74"
|
|
velocity="0.11" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
</joint>
|
|
<link
|
|
name="thumb_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00191123955910445 0.000410833606930864 0.0126839212066989"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0177" />
|
|
<inertia
|
|
ixx="1.51220012345678E-06"
|
|
ixy="-4.12000012345678E-09"
|
|
ixz="-2.74200012345678E-07"
|
|
iyy="2.13200012345678E-06"
|
|
iyz="1.69900012345678E-08"
|
|
izz="9.08100012345678E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_proximal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="thumb_mcp"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00887932880272396 0 0.0555243318218661"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="thumb_metacarpals" />
|
|
<child
|
|
link="thumb_proximal" />
|
|
<axis
|
|
xyz="0 -1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.29"
|
|
effort="0.74"
|
|
velocity="1.68" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
</joint>
|
|
<link
|
|
name="thumb_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.000436367167675547 -8.12416905201542E-07 0.0100507141438788"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0118" />
|
|
<inertia
|
|
ixx="1.10900012345678E-06"
|
|
ixy="5.98700012345678E-11"
|
|
ixz="1.86800012345678E-07"
|
|
iyy="1.00060012345678E-06"
|
|
iyz="-2.30500012345678E-12"
|
|
izz="6.00300012345678E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/thumb_distal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="thumb_dip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.0016005013041016 0 0.0347342656936431"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="thumb_proximal" />
|
|
<child
|
|
link="thumb_distal" />
|
|
<axis
|
|
xyz="0 -1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.31"
|
|
effort="1"
|
|
velocity="1" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
<mimic
|
|
joint="thumb_mcp"
|
|
multiplier="1.0135"
|
|
offset="0" />
|
|
</joint>
|
|
<link
|
|
name="pinky_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00175008833791468 -0.0040133326361499 0.0197242238521216"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0202" />
|
|
<inertia
|
|
ixx="2.71830012345678E-06"
|
|
ixy="-3.01880012345678E-08"
|
|
ixz="-1.01060012345678E-07"
|
|
iyy="2.98640012345678E-06"
|
|
iyz="1.88330012345678E-07"
|
|
izz="7.06740012345678E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/pinky_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/pinky_proximal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="pinky_mcp_pitch"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.0001598 0.033576 0.11272"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="base_link" />
|
|
<child
|
|
link="pinky_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.38"
|
|
effort="0.77"
|
|
velocity="1.86" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
</joint>
|
|
<link
|
|
name="pinky_middle">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00110212240211412 -2.62703534821551E-07 0.0136733775798488"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0058" />
|
|
<inertia
|
|
ixx="5.25420012345678E-07"
|
|
ixy="-7.60700012345678E-11"
|
|
ixz="3.25600012345678E-08"
|
|
iyy="4.32560012345678E-07"
|
|
iyz="3.46100012345678E-11"
|
|
izz="2.79720012345678E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/pinky_middle.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/pinky_middle.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="pinky_pip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00393711300127611 0 0.0398295925316443"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="pinky_proximal" />
|
|
<child
|
|
link="pinky_middle" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.57"
|
|
effort="1"
|
|
velocity="1" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
<mimic
|
|
joint="pinky_mcp_pitch"
|
|
multiplier="1.114"
|
|
offset="0" />
|
|
</joint>
|
|
<link
|
|
name="pinky_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00797028965574052 2.85307043334931E-05 0.00645218774612827"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0111" />
|
|
<inertia
|
|
ixx="7.63620012345678E-07"
|
|
ixy="6.95500012345678E-10"
|
|
ixz="-1.84160012345678E-07"
|
|
iyy="7.71500012345678E-07"
|
|
iyz="-2.40170012345678E-09"
|
|
izz="3.38580012345678E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/pinky_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/pinky_distal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="pinky_dip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00616200337450113 0 0.0264072379171434"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="pinky_middle" />
|
|
<child
|
|
link="pinky_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.31"
|
|
effort="1"
|
|
velocity="1" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
<mimic
|
|
joint="pinky_pip"
|
|
multiplier="0.852"
|
|
offset="0" />
|
|
</joint>
|
|
<link
|
|
name="ring_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00175008833663962 -0.00401333260294955 0.0197242238538815"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0202" />
|
|
<inertia
|
|
ixx="2.71830012345678E-06"
|
|
ixy="-3.01880012345678E-08"
|
|
ixz="-1.01060012345678E-07"
|
|
iyy="2.98640012345678E-06"
|
|
iyz="1.88300012345678E-07"
|
|
izz="7.06740012345678E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/ring_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/ring_proximal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="ring_mcp_pitch"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.000159802646866433 0.0135180553578164 0.119716210582949"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="base_link" />
|
|
<child
|
|
link="ring_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.38"
|
|
effort="0.77"
|
|
velocity="1.86" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
</joint>
|
|
<link
|
|
name="ring_middle">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00110212244873098 -2.62580957276215E-07 0.0136733774971376"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0058" />
|
|
<inertia
|
|
ixx="5.25420012345678E-07"
|
|
ixy="-7.60700012345678E-11"
|
|
ixz="3.25600012345678E-08"
|
|
iyy="4.32560012345678E-07"
|
|
iyz="3.46100012345678E-11"
|
|
izz="2.79720012345678E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/ring_middle.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/ring_middle.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="ring_pip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.00393711300220873 0 0.03982959253187"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="ring_proximal" />
|
|
<child
|
|
link="ring_middle" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.54"
|
|
effort="0"
|
|
velocity="0" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
<mimic
|
|
joint="ring_mcp_pitch"
|
|
multiplier="1.125"
|
|
offset="0" />
|
|
</joint>
|
|
<link
|
|
name="ring_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00797028828586554 2.85299724039761E-05 0.00645218384576389"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0111" />
|
|
<inertia
|
|
ixx="7.63620012345678E-07"
|
|
ixy="6.95500012345678E-10"
|
|
ixz="-1.84160012345678E-07"
|
|
iyy="7.71500012345678E-07"
|
|
iyz="-2.40170012345678E-09"
|
|
izz="3.38580012345678E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/ring_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://linkerhand_o12_t3_left/meshes/ring_distal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="ring_dip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00616200337450102 0 0.0264072379171434"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="ring_middle" />
|
|
<child
|
|
link="ring_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.31"
|
|
effort="1"
|
|
velocity="1" />
|
|
<dynamics
|
|
damping="0.075"
|
|
friction="0.005" />
|
|
<mimic
|
|
joint="ring_pip"
|
|
multiplier="0.83"
|
|
offset="0" />
|
|
</joint>
|
|
</robot> |