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_right">
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||||
name="rh_thumb_cmc_yaw"
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|
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|
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|
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|
||||
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</link>
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<joint
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||||
name="rh_thumb_ip"
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||||
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<origin
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<mimic
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||||
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||||
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||||
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|
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<joint
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name="rh_index_mcp_pitch"
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type="revolute">
|
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<origin
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||||
name="rh_index_dip"
|
||||
type="revolute">
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<origin
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|
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|
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|
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|
||||
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|
||||
<joint
|
||||
name="rh_ring_mcp_pitch"
|
||||
type="revolute">
|
||||
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||||
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|
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|
||||
<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