sunxianghui
1285 lines
28 KiB
XML
1285 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_L25NS_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="-0.0023553326597099 -0.000476950676809626 0.0840274681191193"
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rpy="0 0 0" />
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<mass
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value="0.130043890829375" />
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<inertia
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ixx="0.000269869493590648"
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ixy="-5.66836728555976E-07"
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ixz="1.0791938448155E-06"
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iyy="0.000164906210534713"
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iyz="4.94586055862009E-06"
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izz="0.000118834524369526" />
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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="0.792156862745098 0.819607843137255 0.929411764705882 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="0.0121300685642492 -0.00368626401900367 0.000253013805235423"
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rpy="0 0 0" />
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value="0.0173128324517923" />
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<inertia
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ixx="4.04974890264239E-06"
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ixy="-1.31074266242452E-07"
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ixz="-7.53905165403527E-09"
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iyy="2.43513754798381E-06"
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iyz="1.46366596393199E-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="0.749019607843137 0 0 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="0.01916 0.01 0.0436"
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rpy="0.0669047936042155 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="1.39"
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effort="1"
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velocity="100" />
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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="0.00274804892423072 0.00768600825377847 0.00362008971119372"
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rpy="0 0 0" />
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<mass
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value="0.0129293097380942" />
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<inertia
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ixy="3.5029507180292E-07"
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ixz="-1.32342776895603E-07"
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iyy="7.14783352238004E-07"
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iyz="-3.69293599975358E-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_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="0.749019607843137 0 0 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
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name="thumb_cmc_yaw"
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type="revolute">
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<origin
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xyz="0.019845 0 0"
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rpy="-0.771519235634338 -0.015949629057757 -0.0163964520694657" />
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<parent
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link="thumb_metacarpals_base1" />
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<child
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link="thumb_metacarpals_base2" />
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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="1.57"
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effort="1"
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velocity="100" />
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</joint>
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<link
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name="thumb_metacarpals">
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<inertial>
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<origin
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xyz="0.00680467489235993 -0.000348945978923473 0.0329029974283304"
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rpy="0 0 0" />
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<mass
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value="0.0311449727019751" />
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<inertia
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ixx="1.14965619264847E-05"
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ixy="-1.14093661337383E-08"
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ixz="5.08562599330683E-08"
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iyy="1.37913772817647E-05"
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iyz="2.39355105126118E-08"
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izz="3.56917509196916E-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="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.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_pitch"
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type="revolute">
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<origin
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xyz="0.0088264 0.024243 0.0005"
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rpy="-4.44089209850063e-16 -1.03160184765982 -1.9199" />
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<parent
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link="thumb_metacarpals_base2" />
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<child
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link="thumb_metacarpals" />
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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="0.83"
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effort="1"
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velocity="100" />
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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="-0.00268743345276515 0.000568290980153867 0.0118503606835096"
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rpy="0 0 0" />
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<mass
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value="0.00549015851204037" />
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<inertia
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ixx="4.78349857032437E-07"
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ixy="4.61712014179472E-11"
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ixz="5.4113877466635E-08"
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iyy="6.23171205283375E-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_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="0.792156862745098 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="meshes/thumb_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="thumb_mcp"
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type="revolute">
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<origin
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xyz="0.012702 0 0.062726"
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rpy="0 0 0" />
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<parent
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link="thumb_metacarpals" />
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<child
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link="thumb_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="1.25"
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effort="1"
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velocity="100" />
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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="-0.000650482106033023 2.41300573138245E-05 0.0111942838051236"
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rpy="0 0 0" />
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<mass
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value="0.00585464206993151" />
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<inertia
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ixx="3.37157269656711E-07"
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ixy="3.69307135027908E-10"
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ixz="-1.12308316041907E-07"
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iyy="4.37703462647265E-07"
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iyz="-9.3624675389561E-10"
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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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rgba="0.996078431372549 1 0.317647058823529 1" />
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<collision>
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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="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="-0.0048365 0 0.034223"
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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="0 1 0" />
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<limit
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lower="0"
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upper="1.29"
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effort="1"
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velocity="100" />
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<mimic
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joint="thumb_mcp"
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multiplier="1.03"
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offset="0" />
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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="-0.00794297216778595 3.01910607593964E-07 0.00220112291424343"
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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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<material
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name="">
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rgba="1 1 1 1" />
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<origin
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xyz="0 0 0"
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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="0.0038 0.03525 0.1481"
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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="-0.23"
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upper="0.23"
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effort="1"
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velocity="100" />
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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="-0.00114165889805229 -3.47779025311364E-05 0.0228930740987338"
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xyz="0 0 0"
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name="">
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rgba="1 1 1 1" />
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xyz="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="-0.0021302 0 0"
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rpy="0 0 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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xyz="0 1 0" />
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<limit
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lower="0"
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upper="1.22"
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effort="1"
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velocity="100" />
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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="-0.000206830314670474 -2.69762827288106E-06 0.0167055565294545"
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xyz="0 0 0"
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name="">
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rgba="1 1 1 1" />
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xyz="0 0 0"
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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="-0.0041946 0 0.044819"
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rpy="0 0 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"
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upper="1.75"
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effort="1"
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velocity="100" />
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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="-0.00816260402461631 -2.26721604493323E-05 0.00811819722869647"
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rpy="0 0 0" />
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value="0.00334176238570705" />
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ixx="1.59568900399119E-07"
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ixy="-1.52271643281661E-10"
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ixz="-5.94266141046017E-08"
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iyy="1.78096631602274E-07"
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iyz="1.23981970768957E-10"
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<visual>
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xyz="0 0 0"
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<geometry>
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<mesh
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</geometry>
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<material
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name="">
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</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/index_distal.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="index_dip"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.0028245 0 0.031696"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="index_middle" />
|
|
<child
|
|
link="index_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.55"
|
|
effort="1"
|
|
velocity="100" />
|
|
<mimic
|
|
joint="index_pip"
|
|
multiplier="0.89"
|
|
offset="0" />
|
|
</joint>
|
|
<link
|
|
name="middle_metacarpals">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00794297217144934 3.01910607571412E-07 0.00220112291424346"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.000895533942236672" />
|
|
<inertia
|
|
ixx="3.46286808249452E-08"
|
|
ixy="5.20721113361698E-13"
|
|
ixz="5.91055676999347E-09"
|
|
iyy="2.85439868980493E-08"
|
|
iyz="6.15915602825396E-13"
|
|
izz="4.3810593570144E-08" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_metacarpals.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_metacarpals.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="middle_mcp_roll"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.0038 0.01175 0.1526"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="hand_base_link" />
|
|
<child
|
|
link="middle_metacarpals" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.23"
|
|
upper="0.23"
|
|
effort="1"
|
|
velocity="100" />
|
|
</joint>
|
|
<link
|
|
name="middle_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00114165889805231 -3.47779025311071E-05 0.0228930740987338"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00450935628154299" />
|
|
<inertia
|
|
ixx="6.66693338335741E-07"
|
|
ixy="1.00781853158879E-11"
|
|
ixz="-2.53156876802067E-08"
|
|
iyy="6.74214594716535E-07"
|
|
iyz="1.59197443844791E-10"
|
|
izz="1.35760887991121E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="-0.0021302 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="middle_metacarpals" />
|
|
<child
|
|
link="middle_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.22"
|
|
effort="1"
|
|
velocity="100" />
|
|
</joint>
|
|
<link
|
|
name="middle_middle">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.000206830311076763 -2.69763200638285E-06 0.0167055565392871"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00237861824399121" />
|
|
<inertia
|
|
ixx="2.2958443176697E-07"
|
|
ixy="-3.79531728857531E-12"
|
|
ixz="-1.47269515025648E-08"
|
|
iyy="1.76802239346606E-07"
|
|
iyz="3.59776198217398E-13"
|
|
izz="9.62875381090068E-08" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_middle.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="-0.0041946 0 0.044819"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="middle_proximal" />
|
|
<child
|
|
link="middle_middle" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.75"
|
|
effort="1"
|
|
velocity="100" />
|
|
</joint>
|
|
<link
|
|
name="middle_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00816260402458386 -2.26721612610642E-05 0.00811819722943347"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0033417623857295" />
|
|
<inertia
|
|
ixx="1.59568900407287E-07"
|
|
ixy="-1.52271672185911E-10"
|
|
ixz="-5.94266141070478E-08"
|
|
iyy="1.78096631550001E-07"
|
|
iyz="1.23981962913402E-10"
|
|
izz="1.34139906932954E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/middle_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="0.0028245 0 0.031696"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="middle_middle" />
|
|
<child
|
|
link="middle_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.55"
|
|
effort="1"
|
|
velocity="100" />
|
|
<mimic
|
|
joint="middle_pip"
|
|
multiplier="0.89"
|
|
offset="0" />
|
|
</joint>
|
|
<link
|
|
name="ring_metacarpals">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00794297217511273 3.01910607531514E-07 0.00220112291424343"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00089553394223667" />
|
|
<inertia
|
|
ixx="3.4628680824945E-08"
|
|
ixy="5.2072111337213E-13"
|
|
ixz="5.91055676999336E-09"
|
|
iyy="2.8543986898049E-08"
|
|
iyz="6.15915602738524E-13"
|
|
izz="4.38105935701438E-08" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_metacarpals.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="0.0038 -0.01175 0.1481"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="hand_base_link" />
|
|
<child
|
|
link="ring_metacarpals" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.23"
|
|
upper="0.23"
|
|
effort="1"
|
|
velocity="100" />
|
|
</joint>
|
|
<link
|
|
name="ring_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00114165889805229 -3.47779025311641E-05 0.0228930740987337"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00450935628154299" />
|
|
<inertia
|
|
ixx="6.66693338335738E-07"
|
|
ixy="1.00781853170701E-11"
|
|
ixz="-2.53156876802064E-08"
|
|
iyy="6.74214594716548E-07"
|
|
iyz="1.59197443843837E-10"
|
|
izz="1.3576088799114E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="-0.0021302 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="ring_metacarpals" />
|
|
<child
|
|
link="ring_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.22"
|
|
effort="1"
|
|
velocity="100" />
|
|
</joint>
|
|
<link
|
|
name="ring_middle">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.000206830314670712 -2.69762827293657E-06 0.0167055565294543"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00237861824163314" />
|
|
<inertia
|
|
ixx="2.29584431475388E-07"
|
|
ixy="-3.79527881056473E-12"
|
|
ixz="-1.47269516053097E-08"
|
|
iyy="1.76802239049448E-07"
|
|
iyz="3.59871797815951E-13"
|
|
izz="9.62875380320043E-08" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_middle.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="-0.0041946 0 0.044819"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="ring_proximal" />
|
|
<child
|
|
link="ring_middle" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.75"
|
|
effort="1"
|
|
velocity="100" />
|
|
</joint>
|
|
<link
|
|
name="ring_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00816260402385198 -2.26723442381116E-05 0.00811819722787116"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00334176238553782" />
|
|
<inertia
|
|
ixx="1.59568900413529E-07"
|
|
ixy="-1.5226555011147E-10"
|
|
ixz="-5.9426614092103E-08"
|
|
iyy="1.78096631554275E-07"
|
|
iyz="1.23978578539056E-10"
|
|
izz="1.34139906897543E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/ring_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="0.0028245 0 0.031696"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="ring_middle" />
|
|
<child
|
|
link="ring_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.55"
|
|
effort="1"
|
|
velocity="100" />
|
|
<mimic
|
|
joint="ring_pip"
|
|
multiplier="0.89"
|
|
offset="0" />
|
|
</joint>
|
|
<link
|
|
name="pinky_metacarpals">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00794297217877612 3.019106075558E-07 0.00220112291424343"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.000895533942236661" />
|
|
<inertia
|
|
ixx="3.46286808249448E-08"
|
|
ixy="5.20721113385638E-13"
|
|
ixz="5.91055676999334E-09"
|
|
iyy="2.85439868980489E-08"
|
|
iyz="6.15915602787648E-13"
|
|
izz="4.38105935701437E-08" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_metacarpals.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="0.0038 -0.03525 0.1436"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="hand_base_link" />
|
|
<child
|
|
link="pinky_metacarpals" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.23"
|
|
upper="0.23"
|
|
effort="1"
|
|
velocity="100" />
|
|
</joint>
|
|
<link
|
|
name="pinky_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00114165890216106 -3.47779084241967E-05 0.0228930741124087"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00450935627773312" />
|
|
<inertia
|
|
ixx="6.6669333754323E-07"
|
|
ixy="1.00781372651744E-11"
|
|
ixz="-2.53156873668278E-08"
|
|
iyy="6.74214593816853E-07"
|
|
iyz="1.59197565505674E-10"
|
|
izz="1.35760887844139E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_proximal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="-0.0021302 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="pinky_metacarpals" />
|
|
<child
|
|
link="pinky_proximal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.22"
|
|
effort="1"
|
|
velocity="100" />
|
|
</joint>
|
|
<link
|
|
name="pinky_middle">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.000206830314670489 -2.69762827287412E-06 0.0167055565294545"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0023786182416333" />
|
|
<inertia
|
|
ixx="2.29584431475459E-07"
|
|
ixy="-3.79527884680841E-12"
|
|
ixz="-1.47269516053079E-08"
|
|
iyy="1.76802239049466E-07"
|
|
iyz="3.5987180643017E-13"
|
|
izz="9.62875380320415E-08" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_middle.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="-0.0041946 0 0.044819"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="pinky_proximal" />
|
|
<child
|
|
link="pinky_middle" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.75"
|
|
effort="1"
|
|
velocity="100" />
|
|
</joint>
|
|
<link
|
|
name="pinky_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00816260391299546 -2.26722056161019E-05 0.00811819704290559"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.00334176233214274" />
|
|
<inertia
|
|
ixx="1.59568898336975E-07"
|
|
ixy="-1.52270106341856E-10"
|
|
ixz="-5.94266114992739E-08"
|
|
iyy="1.78096625944569E-07"
|
|
iyz="1.23981107883524E-10"
|
|
izz="1.3413990252827E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="meshes/pinky_distal.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 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="0.0028245 0 0.031696"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="pinky_middle" />
|
|
<child
|
|
link="pinky_distal" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.55"
|
|
effort="1"
|
|
velocity="100" />
|
|
<mimic
|
|
joint="pinky_pip"
|
|
multiplier="0.89"
|
|
offset="0" />
|
|
</joint>
|
|
</robot> |