Add LinkerHand Isaac Sim bridge and G20 assets.
Includes G20 PLAN/cmd_u8 bridge, joint mapping, dual-hand sim scripts, and G20/L20/O6 URDF with USD payloads for Isaac Sim integration. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
sunxianghui
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||||
<?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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name="linkerhand_o6_left">
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|
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<mimic
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|
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<link
|
||||
name="lh_ring_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658986648895491 5.05883528165163E-06 0.019439397215532"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00376949588316609" />
|
||||
<inertia
|
||||
ixx="3.2234524157181E-07"
|
||||
ixy="1.35766976056011E-11"
|
||||
ixz="1.14353011012842E-07"
|
||||
iyy="3.65326570102147E-07"
|
||||
iyz="-2.08672149138738E-10"
|
||||
izz="1.24287770218135E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="lh_ring_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lh_ring_proximal" />
|
||||
<child
|
||||
link="lh_ring_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="lh_ring_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="lh_pinky_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208673599799501 2.68062251165824E-06 0.0172734848131236"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00253185993162408" />
|
||||
<inertia
|
||||
ixx="2.6599033687183E-07"
|
||||
ixy="-1.79030790016555E-11"
|
||||
ixz="-4.31040829565781E-08"
|
||||
iyy="2.72915617381577E-07"
|
||||
iyz="1.86906787420486E-10"
|
||||
izz="8.56039175034871E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</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="0.0024758 0.028372 0.092741"
|
||||
rpy="-0.087266 0 0" />
|
||||
<parent
|
||||
link="lh_hand_base_link" />
|
||||
<child
|
||||
link="lh_pinky_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.60"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
|
||||
</joint>
|
||||
<link
|
||||
name="lh_pinky_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658987588903027 5.03087534178825E-06 0.0194394491065091"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00376948071276134" />
|
||||
<inertia
|
||||
ixx="3.22343583730488E-07"
|
||||
ixy="1.35768173270357E-11"
|
||||
ixz="1.14353289593012E-07"
|
||||
iyy="3.65325180884183E-07"
|
||||
iyz="-2.0744198062439E-10"
|
||||
izz="1.24287567374229E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="lh_pinky_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="lh_pinky_proximal" />
|
||||
<child
|
||||
link="lh_pinky_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="lh_pinky_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,52 @@
|
||||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "linkerhand_o6_left"
|
||||
doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Xform "linkerhand_o6_left" (
|
||||
prepend references = @./payloads/base.usda@
|
||||
variants = {
|
||||
string Physics = "physx"
|
||||
}
|
||||
append variantSets = "Physics"
|
||||
)
|
||||
{
|
||||
variantSet "Physics" = {
|
||||
"mujoco" (
|
||||
prepend payload = @./payloads/Physics/mujoco.usda@
|
||||
) {
|
||||
|
||||
}
|
||||
"none" {
|
||||
|
||||
}
|
||||
"physics" (
|
||||
prepend payload = @./payloads/Physics/physics.usda@
|
||||
) {
|
||||
|
||||
}
|
||||
"physx" (
|
||||
prepend payload = @./payloads/Physics/physx.usda@
|
||||
) {
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,332 @@
|
||||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "linkerhand_o6_left"
|
||||
doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
subLayers = [
|
||||
@./physics.usda@
|
||||
]
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "linkerhand_o6_left"
|
||||
{
|
||||
over "Physics"
|
||||
{
|
||||
def MjcActuator "lh_thumb_cmc_yaw_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_thumb_cmc_yaw>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_thumb_cmc_pitch_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_thumb_cmc_pitch>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_thumb_ip_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_thumb_ip>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_index_mcp_pitch_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_index_mcp_pitch>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_index_dip_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_index_dip>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_middle_mcp_pitch_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_middle_mcp_pitch>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_middle_dip_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_middle_dip>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_ring_mcp_pitch_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_ring_mcp_pitch>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_ring_dip_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_ring_dip>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_pinky_mcp_pitch_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_pinky_mcp_pitch>
|
||||
}
|
||||
|
||||
def MjcActuator "lh_pinky_dip_actuator"
|
||||
{
|
||||
uniform double mjc:forceRange:max = 100
|
||||
uniform double mjc:forceRange:min = -100
|
||||
custom rel mjc:target
|
||||
prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_pinky_dip>
|
||||
}
|
||||
|
||||
over "root_joint"
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_thumb_cmc_yaw" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_thumb_cmc_pitch" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_thumb_ip" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_index_mcp_pitch" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_index_dip" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_middle_mcp_pitch" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_middle_dip" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_ring_mcp_pitch" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_ring_dip" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_pinky_mcp_pitch" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_pinky_dip" (
|
||||
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "Geometry"
|
||||
{
|
||||
over "lh_hand_base_link"
|
||||
{
|
||||
over "lh_thumb_metacarpals_base2"
|
||||
{
|
||||
over "lh_thumb_metacarpals"
|
||||
{
|
||||
over "lh_thumb_distal"
|
||||
{
|
||||
over "thumb_distal"
|
||||
{
|
||||
}
|
||||
|
||||
over "thumb_distal_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "thumb_metacarpals"
|
||||
{
|
||||
}
|
||||
|
||||
over "thumb_metacarpals_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "thumb_metacarpals_base2"
|
||||
{
|
||||
}
|
||||
|
||||
over "thumb_metacarpals_base2_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_index_proximal"
|
||||
{
|
||||
over "lh_index_distal"
|
||||
{
|
||||
over "index_distal"
|
||||
{
|
||||
}
|
||||
|
||||
over "index_distal_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "index_proximal"
|
||||
{
|
||||
}
|
||||
|
||||
over "index_proximal_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_middle_proximal"
|
||||
{
|
||||
over "lh_middle_distal"
|
||||
{
|
||||
over "middle_distal"
|
||||
{
|
||||
}
|
||||
|
||||
over "middle_distal_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "middle_proximal"
|
||||
{
|
||||
}
|
||||
|
||||
over "middle_proximal_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_ring_proximal"
|
||||
{
|
||||
over "lh_ring_distal"
|
||||
{
|
||||
over "ring_distal"
|
||||
{
|
||||
}
|
||||
|
||||
over "ring_distal_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "ring_proximal"
|
||||
{
|
||||
}
|
||||
|
||||
over "ring_proximal_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_pinky_proximal"
|
||||
{
|
||||
over "lh_pinky_distal"
|
||||
{
|
||||
over "pinky_distal"
|
||||
{
|
||||
}
|
||||
|
||||
over "pinky_distal_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "pinky_proximal"
|
||||
{
|
||||
}
|
||||
|
||||
over "pinky_proximal_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "hand_base_link"
|
||||
{
|
||||
}
|
||||
|
||||
over "hand_base_link_1"
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "Materials"
|
||||
{
|
||||
}
|
||||
|
||||
over "VisualMaterials"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,394 @@
|
||||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "linkerhand_o6_left"
|
||||
doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "linkerhand_o6_left"
|
||||
{
|
||||
over "Geometry"
|
||||
{
|
||||
over "lh_hand_base_link" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
bool newton:selfCollisionEnabled = 0
|
||||
point3f physics:centerOfMass = (-0.0015778857, -0.00034876727, 0.053845223)
|
||||
float3 physics:diagonalInertia = (0.000022785269, 0.000033403405, 0.00005226303)
|
||||
float physics:mass = 0.067293525
|
||||
quatf physics:principalAxes = (0.7112235, 0.0196564, 0.7019677, -0.031875554)
|
||||
|
||||
over "lh_thumb_metacarpals_base2" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0016280068, -0.0027668017, -0.0018423444)
|
||||
float3 physics:diagonalInertia = (2.804746e-8, 4.6153662e-8, 5.5545172e-8)
|
||||
float physics:mass = 0.001385883
|
||||
quatf physics:principalAxes = (0.71651435, 0.1483551, 0.6348633, 0.2480857)
|
||||
|
||||
over "lh_thumb_metacarpals" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.00004248162, 0.000017418392, 0.022834163)
|
||||
float3 physics:diagonalInertia = (8.782631e-7, 0.0000011610094, 0.0000017675784)
|
||||
float physics:mass = 0.012338159
|
||||
quatf physics:principalAxes = (0.602796, 0.6027095, 0.37003604, 0.3693936)
|
||||
|
||||
over "lh_thumb_distal" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.004137257, -5.907045e-8, 0.023011401)
|
||||
float3 physics:diagonalInertia = (2.7226213e-7, 0.0000012248909, 0.0000013107585)
|
||||
float physics:mass = 0.0076333294
|
||||
quatf physics:principalAxes = (0.7312508, 0.000050898147, 0.68210864, 0.000050140923)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_index_proximal" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.0020865656, 0.0000025383872, 0.017273495)
|
||||
float3 physics:diagonalInertia = (7.583063e-8, 2.7291307e-7, 2.757608e-7)
|
||||
float physics:mass = 0.0025317466
|
||||
quatf physics:principalAxes = (0.78133, 0.007643632, 0.6240355, 0.0066868095)
|
||||
|
||||
over "lh_index_distal" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0065898662, 0.0000051385564, 0.01943936)
|
||||
float3 physics:diagonalInertia = (7.204472e-8, 3.6532765e-7, 3.7459085e-7)
|
||||
float physics:mass = 0.003769511
|
||||
quatf physics:principalAxes = (0.54057455, 0.0024824692, 0.84128624, 0.0032386186)
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_middle_proximal" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.0020866066, 0.0000025691818, 0.0172735)
|
||||
float3 physics:diagonalInertia = (7.5831146e-8, 2.7291338e-7, 2.757611e-7)
|
||||
float physics:mass = 0.0025317736
|
||||
quatf physics:principalAxes = (0.7813296, 0.0076768305, 0.62403536, 0.0067128767)
|
||||
|
||||
over "lh_middle_distal" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0065898653, 0.0000051086295, 0.019439332)
|
||||
float3 physics:diagonalInertia = (7.204529e-8, 3.6532907e-7, 3.745922e-7)
|
||||
float physics:mass = 0.003769528
|
||||
quatf physics:principalAxes = (0.5405751, 0.0024706838, 0.84128594, 0.003223407)
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_ring_proximal" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.0020866792, 0.0000026300042, 0.017273493)
|
||||
float3 physics:diagonalInertia = (7.5832226e-8, 2.7291406e-7, 2.7576172e-7)
|
||||
float physics:mass = 0.0025318223
|
||||
quatf physics:principalAxes = (0.78132856, 0.0077359965, 0.62403536, 0.0067587425)
|
||||
|
||||
over "lh_ring_distal" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.0065898667, 0.000005058835, 0.019439397)
|
||||
float3 physics:diagonalInertia = (7.20441e-8, 3.6532612e-7, 3.7458938e-7)
|
||||
float physics:mass = 0.003769496
|
||||
quatf physics:principalAxes = (0.54057366, 0.002450255, 0.841287, 0.0031969126)
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_pinky_proximal" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (-0.002086736, 0.0000026806224, 0.017273486)
|
||||
float3 physics:diagonalInertia = (7.5833086e-8, 2.7291458e-7, 2.7576223e-7)
|
||||
float physics:mass = 0.00253186
|
||||
quatf physics:principalAxes = (0.78132784, 0.007784023, 0.6240353, 0.0067960154)
|
||||
|
||||
over "lh_pinky_distal" (
|
||||
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
|
||||
)
|
||||
{
|
||||
point3f physics:centerOfMass = (0.006589876, 0.0000050308754, 0.01943945)
|
||||
float3 physics:diagonalInertia = (7.2043434e-8, 3.6532472e-7, 3.7458818e-7)
|
||||
float physics:mass = 0.0037694806
|
||||
quatf physics:principalAxes = (0.54057276, 0.0024336982, 0.8412878, 0.0031746821)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "Physics"
|
||||
{
|
||||
def PhysicsRevoluteJoint "lh_thumb_cmc_yaw" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
uniform token physics:axis = "Z"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2>
|
||||
point3f physics:localPos0 = (0.011508, -0.022975, 0.032794)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 74.48451
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_thumb_cmc_pitch" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals>
|
||||
point3f physics:localPos0 = (0.0061649, -0.010678, -0.004891)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0.41919965, 0.47202873, -0.27252436, 0.7260792)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 33.231552
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_thumb_ip" (
|
||||
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
float newton:mimicCoef1 = 2.29
|
||||
rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_thumb_cmc_pitch>
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals/lh_thumb_distal>
|
||||
point3f physics:localPos0 = (0.0037776, 7.372575e-18, 0.045368)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 61.87944
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_index_mcp_pitch" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal>
|
||||
point3f physics:localPos0 = (0.0024758, -0.02419, 0.098779)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0.99965733, 0.026176646, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 91.67325
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_index_dip" (
|
||||
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
float newton:mimicCoef1 = 0.89
|
||||
rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_index_mcp_pitch>
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal/lh_index_distal>
|
||||
point3f physics:localPos0 = (-0.0052516, 0, 0.036625)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 81.93297
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_middle_mcp_pitch" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal>
|
||||
point3f physics:localPos0 = (0.00052576, -0.00634, 0.1027)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 91.67325
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_middle_dip" (
|
||||
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
float newton:mimicCoef1 = 0.89
|
||||
rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_middle_mcp_pitch>
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal/lh_middle_distal>
|
||||
point3f physics:localPos0 = (-0.0052516, 0, 0.036625)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 81.93297
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_ring_mcp_pitch" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal>
|
||||
point3f physics:localPos0 = (0.0010258, 0.011135, 0.098767)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0.99965733, -0.026176646, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 91.67325
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_ring_dip" (
|
||||
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
float newton:mimicCoef1 = 0.89
|
||||
rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_ring_mcp_pitch>
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal/lh_ring_distal>
|
||||
point3f physics:localPos0 = (-0.0052516, 0, 0.036625)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 81.93297
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_pinky_mcp_pitch" (
|
||||
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal>
|
||||
point3f physics:localPos0 = (0.0024758, 0.028372, 0.092741)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (0.99904823, -0.043619126, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 91.67325
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsRevoluteJoint "lh_pinky_dip" (
|
||||
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
|
||||
)
|
||||
{
|
||||
float drive:angular:physics:maxForce = 100
|
||||
float newton:mimicCoef1 = 0.89
|
||||
rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_pinky_mcp_pitch>
|
||||
uniform token physics:axis = "Y"
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal/lh_pinky_distal>
|
||||
point3f physics:localPos0 = (-0.0052516, -3.469447e-18, 0.036625)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
float physics:lowerLimit = 0
|
||||
float physics:upperLimit = 81.93297
|
||||
custom float urdf:limit:effort = 100
|
||||
custom float urdf:limit:velocity = 1
|
||||
}
|
||||
|
||||
def PhysicsFixedJoint "root_joint"
|
||||
{
|
||||
custom rel physics:body0
|
||||
prepend rel physics:body0 = </linkerhand_o6_left>
|
||||
custom rel physics:body1
|
||||
prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
|
||||
point3f physics:localPos0 = (0, 0, 0)
|
||||
point3f physics:localPos1 = (0, 0, 0)
|
||||
quatf physics:localRot0 = (1, 0, 0, 0)
|
||||
quatf physics:localRot1 = (1, 0, 0, 0)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,108 @@
|
||||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "linkerhand_o6_left"
|
||||
doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
subLayers = [
|
||||
@./physics.usda@
|
||||
]
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "linkerhand_o6_left"
|
||||
{
|
||||
over "Physics"
|
||||
{
|
||||
over "lh_thumb_cmc_yaw" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_thumb_cmc_pitch" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_thumb_ip" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_index_mcp_pitch" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_index_dip" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_middle_mcp_pitch" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_middle_dip" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_ring_mcp_pitch" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_ring_dip" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_pinky_mcp_pitch" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
|
||||
over "lh_pinky_dip" (
|
||||
prepend apiSchemas = ["PhysxJointAPI"]
|
||||
)
|
||||
{
|
||||
float physxJoint:maxJointVelocity = 57.29578
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,418 @@
|
||||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "linkerhand_o6_left"
|
||||
doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
subLayers = [
|
||||
@./robot.usda@
|
||||
]
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Xform "linkerhand_o6_left" (
|
||||
prepend apiSchemas = ["GeomModelAPI"]
|
||||
assetInfo = {
|
||||
string name = "linkerhand_o6_left"
|
||||
}
|
||||
kind = "component"
|
||||
)
|
||||
{
|
||||
float3[] extentsHint = [(-0.02, -0.116600335, 8.4912535e-11), (0.071913876, 0.040911872, 0.17689712), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.02, -0.116600335, 8.4912535e-11), (0.071913876, 0.040911872, 0.17689712)]
|
||||
|
||||
def Scope "Materials"
|
||||
{
|
||||
}
|
||||
|
||||
def Scope "Geometry"
|
||||
{
|
||||
def Xform "lh_hand_base_link"
|
||||
{
|
||||
def Xform "hand_base_link" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/hand_base_link>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lh_thumb_metacarpals_base2"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.011508, -0.022975, 0.032794)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "thumb_metacarpals_base2" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lh_thumb_metacarpals"
|
||||
{
|
||||
quatf xformOp:orient = (0.41919965, 0.47202873, -0.27252436, 0.7260792)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.0061649, -0.010678, -0.004891)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "thumb_metacarpals" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/thumb_metacarpals>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lh_thumb_distal"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.0037776, 0, 0.045368)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "thumb_distal" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/thumb_distal>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "thumb_distal_1" (
|
||||
displayName = "thumb_distal"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/thumb_distal_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "thumb_metacarpals_1" (
|
||||
displayName = "thumb_metacarpals"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/thumb_metacarpals_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "thumb_metacarpals_base2_1" (
|
||||
displayName = "thumb_metacarpals_base2"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lh_index_proximal"
|
||||
{
|
||||
quatf xformOp:orient = (0.99965733, 0.026176646, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.0024758, -0.02419, 0.098779)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "index_proximal" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/index_proximal>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lh_index_distal"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.0052516, 0, 0.036625)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "index_distal" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/index_distal>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "index_distal_1" (
|
||||
displayName = "index_distal"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/index_distal_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "index_proximal_1" (
|
||||
displayName = "index_proximal"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/index_proximal_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lh_middle_proximal"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.00052576, -0.00634, 0.1027)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "middle_proximal" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/middle_proximal>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lh_middle_distal"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.0052516, 0, 0.036625)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "middle_distal" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/middle_distal>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "middle_distal_1" (
|
||||
displayName = "middle_distal"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/middle_distal_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "middle_proximal_1" (
|
||||
displayName = "middle_proximal"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/middle_proximal_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lh_ring_proximal"
|
||||
{
|
||||
quatf xformOp:orient = (0.99965733, -0.026176646, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.0010258, 0.011135, 0.098767)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "ring_proximal" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/ring_proximal>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lh_ring_distal"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.0052516, 0, 0.036625)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "ring_distal" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/ring_distal>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "ring_distal_1" (
|
||||
displayName = "ring_distal"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/ring_distal_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "ring_proximal_1" (
|
||||
displayName = "ring_proximal"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/ring_proximal_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "lh_pinky_proximal"
|
||||
{
|
||||
quatf xformOp:orient = (0.99904823, -0.043619126, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0.0024758, 0.028372, 0.092741)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "pinky_proximal" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/pinky_proximal>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "lh_pinky_distal"
|
||||
{
|
||||
quatf xformOp:orient = (1, 0, 0, 0)
|
||||
float3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (-0.0052516, 0, 0.036625)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
|
||||
def Xform "pinky_distal" (
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/pinky_distal>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
|
||||
def Xform "pinky_distal_1" (
|
||||
displayName = "pinky_distal"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/pinky_distal_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "pinky_proximal_1" (
|
||||
displayName = "pinky_proximal"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/pinky_proximal_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "hand_base_link_1" (
|
||||
displayName = "hand_base_link"
|
||||
instanceable = true
|
||||
prepend references = @./instances.usda@</Instances/hand_base_link_1>
|
||||
)
|
||||
{
|
||||
quatd xformOp:orient = (1, 0, 0, 0)
|
||||
double3 xformOp:scale = (1, 1, 1)
|
||||
double3 xformOp:translate = (0, 0, 0)
|
||||
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Scope "Physics"
|
||||
{
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
Binary file not shown.
@@ -0,0 +1,456 @@
|
||||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Scope "Instances"
|
||||
{
|
||||
def Xform "hand_base_link" (
|
||||
prepend references = @./geometries.usd@</Geometries/hand_base_link>
|
||||
)
|
||||
{
|
||||
over "hand_base_link" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/hand_base_link/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "hand_base_link_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/hand_base_link>
|
||||
)
|
||||
{
|
||||
over "hand_base_link" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "thumb_metacarpals_base2" (
|
||||
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base2>
|
||||
)
|
||||
{
|
||||
over "thumb_metacarpals_base2" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/thumb_metacarpals_base2/VisualMaterials/BlackAccent>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "BlackAccent" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/BlackAccent>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "thumb_metacarpals_base2_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base2>
|
||||
)
|
||||
{
|
||||
over "thumb_metacarpals_base2" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "thumb_metacarpals" (
|
||||
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals>
|
||||
)
|
||||
{
|
||||
over "thumb_metacarpals" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/thumb_metacarpals/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "thumb_metacarpals_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals>
|
||||
)
|
||||
{
|
||||
over "thumb_metacarpals" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "thumb_distal" (
|
||||
prepend references = @./geometries.usd@</Geometries/thumb_distal>
|
||||
)
|
||||
{
|
||||
over "thumb_distal" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/thumb_distal/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "thumb_distal_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/thumb_distal>
|
||||
)
|
||||
{
|
||||
over "thumb_distal" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "index_proximal" (
|
||||
prepend references = @./geometries.usd@</Geometries/index_proximal>
|
||||
)
|
||||
{
|
||||
over "index_proximal" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/index_proximal/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "index_proximal_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/index_proximal>
|
||||
)
|
||||
{
|
||||
over "index_proximal" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "index_distal" (
|
||||
prepend references = @./geometries.usd@</Geometries/index_distal>
|
||||
)
|
||||
{
|
||||
over "index_distal" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/index_distal/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "index_distal_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/index_distal>
|
||||
)
|
||||
{
|
||||
over "index_distal" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "middle_proximal" (
|
||||
prepend references = @./geometries.usd@</Geometries/middle_proximal>
|
||||
)
|
||||
{
|
||||
over "middle_proximal" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/middle_proximal/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "middle_proximal_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/middle_proximal>
|
||||
)
|
||||
{
|
||||
over "middle_proximal" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "middle_distal" (
|
||||
prepend references = @./geometries.usd@</Geometries/middle_distal>
|
||||
)
|
||||
{
|
||||
over "middle_distal" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/middle_distal/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "middle_distal_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/middle_distal>
|
||||
)
|
||||
{
|
||||
over "middle_distal" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "ring_proximal" (
|
||||
prepend references = @./geometries.usd@</Geometries/ring_proximal>
|
||||
)
|
||||
{
|
||||
over "ring_proximal" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/ring_proximal/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "ring_proximal_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/ring_proximal>
|
||||
)
|
||||
{
|
||||
over "ring_proximal" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "ring_distal" (
|
||||
prepend references = @./geometries.usd@</Geometries/ring_distal>
|
||||
)
|
||||
{
|
||||
over "ring_distal" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/ring_distal/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "ring_distal_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/ring_distal>
|
||||
)
|
||||
{
|
||||
over "ring_distal" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "pinky_proximal" (
|
||||
prepend references = @./geometries.usd@</Geometries/pinky_proximal>
|
||||
)
|
||||
{
|
||||
over "pinky_proximal" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/pinky_proximal/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "pinky_proximal_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/pinky_proximal>
|
||||
)
|
||||
{
|
||||
over "pinky_proximal" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "pinky_distal" (
|
||||
prepend references = @./geometries.usd@</Geometries/pinky_distal>
|
||||
)
|
||||
{
|
||||
over "pinky_distal" (
|
||||
apiSchemas = ["MaterialBindingAPI"]
|
||||
)
|
||||
{
|
||||
custom rel material:binding
|
||||
prepend rel material:binding = </Instances/pinky_distal/VisualMaterials/silver>
|
||||
}
|
||||
|
||||
def Scope "VisualMaterials"
|
||||
{
|
||||
def Material "silver" (
|
||||
instanceable = true
|
||||
prepend references = @./materials.usda@</Materials/silver>
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def Xform "pinky_distal_1" (
|
||||
prepend references = @./geometries.usd@</Geometries/pinky_distal>
|
||||
)
|
||||
{
|
||||
over "pinky_distal" (
|
||||
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
|
||||
)
|
||||
{
|
||||
token physics:approximation = "convexHull"
|
||||
token purpose = "guide"
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,90 @@
|
||||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
def Scope "Materials"
|
||||
{
|
||||
def Material "silver"
|
||||
{
|
||||
color3f inputs:diffuseColor = (0.21404114, 0.21404114, 0.23302203)
|
||||
float inputs:metallic = 0
|
||||
float inputs:opacity = 1
|
||||
float inputs:roughness = 0.5
|
||||
token inputs:wrapMode = "repeat"
|
||||
token outputs:displacement (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
prepend token outputs:displacement.connect = </Materials/silver/PreviewSurface.outputs:displacement>
|
||||
token outputs:surface (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
prepend token outputs:surface.connect = </Materials/silver/PreviewSurface.outputs:surface>
|
||||
token outputs:volume (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
|
||||
def Shader "PreviewSurface" (
|
||||
apiSchemas = ["NodeDefAPI"]
|
||||
)
|
||||
{
|
||||
token info:id = "UsdPreviewSurface"
|
||||
prepend color3f inputs:diffuseColor.connect = </Materials/silver.inputs:diffuseColor>
|
||||
prepend float inputs:metallic.connect = </Materials/silver.inputs:metallic>
|
||||
prepend float inputs:opacity.connect = </Materials/silver.inputs:opacity>
|
||||
prepend float inputs:roughness.connect = </Materials/silver.inputs:roughness>
|
||||
token outputs:displacement
|
||||
token outputs:surface
|
||||
}
|
||||
}
|
||||
|
||||
def Material "BlackAccent"
|
||||
{
|
||||
color3f inputs:diffuseColor = (0.01960665, 0.01960665, 0.01960665)
|
||||
float inputs:metallic = 0
|
||||
float inputs:opacity = 1
|
||||
float inputs:roughness = 0.5
|
||||
token inputs:wrapMode = "repeat"
|
||||
token outputs:displacement (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
prepend token outputs:displacement.connect = </Materials/BlackAccent/PreviewSurface.outputs:displacement>
|
||||
token outputs:surface (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
prepend token outputs:surface.connect = </Materials/BlackAccent/PreviewSurface.outputs:surface>
|
||||
token outputs:volume (
|
||||
displayGroup = "Outputs"
|
||||
)
|
||||
|
||||
def Shader "PreviewSurface" (
|
||||
apiSchemas = ["NodeDefAPI"]
|
||||
)
|
||||
{
|
||||
token info:id = "UsdPreviewSurface"
|
||||
prepend color3f inputs:diffuseColor.connect = </Materials/BlackAccent.inputs:diffuseColor>
|
||||
prepend float inputs:metallic.connect = </Materials/BlackAccent.inputs:metallic>
|
||||
prepend float inputs:opacity.connect = </Materials/BlackAccent.inputs:opacity>
|
||||
prepend float inputs:roughness.connect = </Materials/BlackAccent.inputs:roughness>
|
||||
token outputs:displacement
|
||||
token outputs:surface
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,197 @@
|
||||
#usda 1.0
|
||||
(
|
||||
customLayerData = {
|
||||
string creator = "URDF USD Converter v0.1.3"
|
||||
}
|
||||
defaultPrim = "linkerhand_o6_left"
|
||||
doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
|
||||
|
||||
|
||||
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
|
||||
"""
|
||||
kilogramsPerUnit = 1
|
||||
metersPerUnit = 1
|
||||
upAxis = "Z"
|
||||
)
|
||||
|
||||
over "linkerhand_o6_left" (
|
||||
prepend apiSchemas = ["IsaacRobotAPI"]
|
||||
)
|
||||
{
|
||||
prepend rel isaac:physics:robotJoints = [
|
||||
</linkerhand_o6_left/Physics/root_joint>,
|
||||
</linkerhand_o6_left/Physics/lh_thumb_cmc_yaw>,
|
||||
</linkerhand_o6_left/Physics/lh_index_mcp_pitch>,
|
||||
</linkerhand_o6_left/Physics/lh_middle_mcp_pitch>,
|
||||
</linkerhand_o6_left/Physics/lh_ring_mcp_pitch>,
|
||||
</linkerhand_o6_left/Physics/lh_pinky_mcp_pitch>,
|
||||
</linkerhand_o6_left/Physics/lh_thumb_cmc_pitch>,
|
||||
</linkerhand_o6_left/Physics/lh_thumb_ip>,
|
||||
</linkerhand_o6_left/Physics/lh_index_dip>,
|
||||
</linkerhand_o6_left/Physics/lh_middle_dip>,
|
||||
</linkerhand_o6_left/Physics/lh_ring_dip>,
|
||||
</linkerhand_o6_left/Physics/lh_pinky_dip>,
|
||||
]
|
||||
prepend rel isaac:physics:robotLinks = [
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals/lh_thumb_distal>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal/lh_index_distal>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal/lh_middle_distal>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal/lh_ring_distal>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal>,
|
||||
</linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal/lh_pinky_distal>,
|
||||
]
|
||||
token isaac:robotType = "Default"
|
||||
|
||||
over "Geometry"
|
||||
{
|
||||
over "lh_hand_base_link" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lh_thumb_metacarpals_base2" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lh_thumb_metacarpals" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lh_thumb_distal" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_index_proximal" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lh_index_distal" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_middle_proximal" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lh_middle_distal" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_ring_proximal" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lh_ring_distal" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
over "lh_pinky_proximal" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
over "lh_pinky_distal" (
|
||||
prepend apiSchemas = ["IsaacLinkAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
over "Physics"
|
||||
{
|
||||
over "root_joint" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_thumb_cmc_yaw" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_thumb_cmc_pitch" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_thumb_ip" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_index_mcp_pitch" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_index_dip" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_middle_mcp_pitch" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_middle_dip" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_ring_mcp_pitch" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_ring_dip" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_pinky_mcp_pitch" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
|
||||
over "lh_pinky_dip" (
|
||||
prepend apiSchemas = ["IsaacJointAPI"]
|
||||
)
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,664 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot
|
||||
name="linkerhand_o6_right">
|
||||
<material name="silver">
|
||||
<color rgba="0.5 0.5 0.52 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="BlackAccent">
|
||||
<color rgba="0.15 0.15 0.15 1.0"/>
|
||||
</material>
|
||||
<link
|
||||
name="rh_hand_base_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00160320773490556 0.000358462699237561 0.0538002704027215"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.06740077960995" />
|
||||
<inertia
|
||||
ixx="5.22359941041901E-05"
|
||||
ixy="3.0391535852764E-07"
|
||||
ixz="3.88322215371643E-07"
|
||||
iyy="3.33473043513648E-05"
|
||||
iyz="-7.77555280794861E-07"
|
||||
izz="2.28342677422006E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/hand_base_link.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/hand_base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="rh_thumb_metacarpals_base2">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00162795738393507 0.00276671978336815 -0.00184227725602707"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00138591070212997" />
|
||||
<inertia
|
||||
ixx="5.26294625624223E-08"
|
||||
ixy="-3.9288013799604E-09"
|
||||
ixz="2.43766268199571E-09"
|
||||
iyy="4.82623724532942E-08"
|
||||
iyz="3.71867754115443E-09"
|
||||
izz="2.88555522060562E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_metacarpals_base2.STL" />
|
||||
</geometry>
|
||||
<material name="BlackAccent"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_metacarpals_base2.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_thumb_cmc_yaw"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.011508 0.022975 0.032794"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_thumb_metacarpals_base2" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.36"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_thumb_metacarpals">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="4.24920612856275E-05 -1.67885666835232E-05 0.0228341522590467"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0123381607727595" />
|
||||
<inertia
|
||||
ixx="1.10292488693766E-06"
|
||||
ixy="-6.14241939151719E-10"
|
||||
ixz="1.14233108676795E-07"
|
||||
iyy="1.76757658485787E-06"
|
||||
iyz="-4.24576599367025E-10"
|
||||
izz="9.36348143657406E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_thumb_cmc_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0061649 0.010678 -0.004891"
|
||||
rpy="0 -1.1529 -2.0944" />
|
||||
<parent
|
||||
link="rh_thumb_metacarpals_base2" />
|
||||
<child
|
||||
link="rh_thumb_metacarpals" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="0.58"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_thumb_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00413690727496815 -4.54842793429222E-07 0.0230097179163771"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00763302603723749" />
|
||||
<inertia
|
||||
ixx="1.30546842791578E-06"
|
||||
ixy="-2.61617511029467E-12"
|
||||
ixz="7.19030685242407E-08"
|
||||
iyy="1.22457212713176E-06"
|
||||
iyz="1.66931068485225E-11"
|
||||
izz="2.7729897944409E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/thumb_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_thumb_ip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0037776 0 0.045368"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_thumb_metacarpals" />
|
||||
<child
|
||||
link="rh_thumb_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.08"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_thumb_cmc_pitch"
|
||||
multiplier="1.86"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_index_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208665596033792 -4.8964990644329E-06 0.0172736718900068"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00253178529301663" />
|
||||
<inertia
|
||||
ixx="2.65990159539482E-07"
|
||||
ixy="-3.55165625722842E-11"
|
||||
ixz="4.31046335852167E-08"
|
||||
iyy="2.72915460277804E-07"
|
||||
iyz="1.75935978708959E-10"
|
||||
izz="8.56026306687528E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_index_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0024758 0.02419 0.098779"
|
||||
rpy="-0.05236 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_index_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.60"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_index_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940011630532 -4.59976557022623E-06 0.0194434136420913"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00376787129082313" />
|
||||
<inertia
|
||||
ixx="3.22116619426455E-07"
|
||||
ixy="1.03152735699049E-11"
|
||||
ixz="-1.14363506430985E-07"
|
||||
iyy="3.65131844686317E-07"
|
||||
iyz="-1.97263639269362E-10"
|
||||
izz="1.24256890612907E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_index_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_index_proximal" />
|
||||
<child
|
||||
link="rh_index_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_index_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_middle_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208661081773556 -4.93451838476378E-06 0.0172736805321904"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00253175497594429" />
|
||||
<inertia
|
||||
ixx="2.65989683690695E-07"
|
||||
ixy="-3.58343951791586E-11"
|
||||
ixz="4.31048601085216E-08"
|
||||
iyy="2.72915006047006E-07"
|
||||
iyz="1.75718024412593E-10"
|
||||
izz="8.56020467202518E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_middle_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.00052576 0.00634 0.1027"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_middle_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.60"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_middle_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940304809306 -4.5885743593238E-06 0.0194434523296449"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00376786259758948" />
|
||||
<inertia
|
||||
ixx="3.221153658306E-07"
|
||||
ixy="1.02639617308432E-11"
|
||||
ixz="-1.14363547272711E-07"
|
||||
iyy="3.65130723083104E-07"
|
||||
iyz="-1.96904618797577E-10"
|
||||
izz="1.24256787913797E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_middle_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_middle_proximal" />
|
||||
<child
|
||||
link="rh_middle_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_middle_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_ring_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208654311325356 -4.98538564003281E-06 0.0172736743497407"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00253170963529411" />
|
||||
<inertia
|
||||
ixx="2.6598913795678E-07"
|
||||
ixy="-3.62757108675266E-11"
|
||||
ixz="4.31050611555507E-08"
|
||||
iyy="2.72914417061517E-07"
|
||||
iyz="1.75554984053478E-10"
|
||||
izz="8.56012458677515E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_ring_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0010258 -0.011135 0.098767"
|
||||
rpy="0.05236 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_ring_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.60"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_ring_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940273069729 -4.56628863591824E-06 0.0194435005686854"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0037678395356105" />
|
||||
<inertia
|
||||
ixx="3.22112632437858E-07"
|
||||
ixy="1.01848408913558E-11"
|
||||
ixz="-1.1436348915342E-07"
|
||||
iyy="3.65128262095686E-07"
|
||||
iyz="-1.96145632992445E-10"
|
||||
izz="1.24256284608064E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_ring_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_ring_proximal" />
|
||||
<child
|
||||
link="rh_ring_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_ring_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_pinky_proximal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00208649034130813 -5.02314582560837E-06 0.0172736680793697"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00253167400540778" />
|
||||
<inertia
|
||||
ixx="2.65988718820404E-07"
|
||||
ixy="-3.66012295280295E-11"
|
||||
ixz="4.31052220484445E-08"
|
||||
iyy="2.72913936904813E-07"
|
||||
iyz="1.75447396222308E-10"
|
||||
izz="8.56006424720129E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_pinky_mcp_pitch"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0024758 -0.028372 0.092741"
|
||||
rpy="0.087266 0 0" />
|
||||
<parent
|
||||
link="rh_hand_base_link" />
|
||||
<child
|
||||
link="rh_pinky_proximal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.60"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
</joint>
|
||||
<link
|
||||
name="rh_pinky_distal">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00658940431519205 -4.55268314210333E-06 0.0194435341098305"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00376782669873412" />
|
||||
<inertia
|
||||
ixx="3.22111112339498E-07"
|
||||
ixy="1.01707985908333E-11"
|
||||
ixz="-1.14363524419061E-07"
|
||||
iyy="3.65126916899176E-07"
|
||||
iyz="-1.95589215866356E-10"
|
||||
izz="1.24256004854426E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="rh_pinky_dip"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0052516 0 0.036625"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="rh_pinky_proximal" />
|
||||
<child
|
||||
link="rh_pinky_distal" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1.43"
|
||||
effort="100"
|
||||
velocity="1" />
|
||||
<mimic
|
||||
joint="rh_pinky_mcp_pitch"
|
||||
multiplier="0.89"
|
||||
offset="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
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Reference in New Issue
Block a user