Organize hand models and launchers; use linear active joint mapping
This commit is contained in:
@@ -38,3 +38,11 @@ MUJOCO_LOG.TXT
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**/*.urdf.bak*
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**/*.xml.bak*
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**/*.json.bak*
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# Organized generated outputs and rollback snapshots
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outputs/
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archive/backups/
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archive/exports/
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# Machine-local workspace links
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external_ws/
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@@ -1,215 +1,71 @@
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# Mujoco LinkerBot（ROS 2）
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# LinkerHand MuJoCo 工程
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Linker Hand 的 MuJoCo + ROS 2 仿真工作区。支持：
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日常只需使用根目录 `run.sh` 和 `hands/`。根目录旧启动脚本已移入归档，不再重复摆放。
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- **O6**：经典 6 通道 0~255 控制（launch）
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- **G20 左手**：PLAN 桥接、标定查表、MJCF/URDF 零位同步
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- **L20 V10.1 左手**：与 G20 双窗对比
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- 关节弧度监视 GUI、曲线录制与实验脚本
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远程仓库：<https://gitea.robotquan.com/sunxianghui/mujoco_linkerbot.git>
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---
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## 环境要求
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- Ubuntu + ROS 2 **Jazzy**
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- 工作区路径示例：`~/linker_hand_mujoco_ros2`
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- Python 依赖在本地 `venv`（含 `mujoco` 等；**不要**把 `venv` 提交进仓库）
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- `ros2 launch` 使用系统 Python，仅 `source venv` 不够，请用仓库里的启动脚本（会把 `venv/site-packages` 加入 `PYTHONPATH`）
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---
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## 一、编译（首次或改代码后）
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## 启动仿真
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```bash
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cd ~/linker_hand_mujoco_ros2
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source /opt/ros/jazzy/setup.bash
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colcon build --symlink-install --packages-select linker_hand_mujoco_ros2
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source install/setup.bash
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./run.sh O30 right
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./run.sh O30 left
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./run.sh G20 left
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./run.sh O6 right
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./run.sh L6 left
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./run.sh O12 right
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```
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`venv/` 已放 `COLCON_IGNORE`，不会被 colcon 误扫。
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支持 G20、O6、L6、O30 左右手，以及 O12 右手。参数继续向驱动传递，例如 `./run.sh O30 right --pd-drive`。
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---
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## 二、O6 仿真（原有流程）
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双窗对比在对应手型目录，例如：
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```bash
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./run_sim.sh
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./hands/G20/compare_left.sh
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./hands/O6/compare_right.sh
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```
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- 控制话题：`/cb_left_hand_control_cmd`
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- 类型：`sensor_msgs/msg/JointState`
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- `position`：6 个数，约 **0~255**（**255≈张开，0≈握紧**）
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主动关节使用线性映射；G20 可使用被动 JSON 联动。O12 输入为弧度，其余上述手型为 SDK 0～255。详见 [驱动与映射说明](hands/README.md)。
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| 索引 | 含义 |
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|------|------|
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| 0 | 拇指弯曲 |
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| 1 | 拇指横摆 |
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| 2 | 食指弯曲 |
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| 3 | 中指弯曲 |
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| 4 | 无名指弯曲 |
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| 5 | 小指弯曲 |
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## 目录职责
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更多 O6 / 多机 DDS / 曲线录制说明见下文「附录：O6 与多机」。
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---
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## 三、G20 左手仿真（推荐）
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### 3.1 一键启动
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```bash
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./run_g20_mujoco_plan.sh
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```text
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run.sh 统一仿真启动入口
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hands/ 按手型使用
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G20/ O6/ L6/ O12/ O30/
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run_left.sh / run_right.sh 单手启动（按支持情况提供）
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compare_left.sh / ... 双窗比较（按支持情况提供）
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scripts/ 内部启动实现、监视工具
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assets/ 包内模型的相对链接
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O30/release/ 当前干净的 V10 左右手导出包链接
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assets/
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exports/ 当前导出包，仅保留干净 V10 包及压缩包
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vendor/Linkerbot_URDF/ 原始供应方资产，按手型保存
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src/ ROS2 仿真源码、实际运行模型
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outputs/
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reports/O6/ O6 实验结果
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reports/O30/ O30 标定与诊断结果
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logs/ 独立运行日志
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archive/
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backups/ 修改前备份
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exports/ 旧版导出、历史副本
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launchers/ 原根目录兼容脚本
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layout_migration.json 文件搬迁对照清单
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tools/ 标定、记录、镜像等开发工具
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hardware/ 真机启动/记录脚本（不会被 run.sh 调用）
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experiments/ 实验启动脚本
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tests/ 回归测试
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docs/ 技术文档、计划及历史说明
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```
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默认行为：
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`hands/*/assets` 等链接指向工程内的原文件，不维护重复的运行模型。移动整个工程时保留相对符号链接即可；单独取某个手型时仍需携带其实际资产和共享驱动。
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| 项 | 值 |
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|----|-----|
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| 模型 | `urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml` |
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| 控制话题 | `/g20/cb_left_hand_control_cmd` |
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| 状态话题 | `/sim/mujoco/g20/left/joint_state` |
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| 指令 | 20 维 0~255（与真机 SDK 通道对齐） |
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| 映射 | 标定 JSON 查表 + URDF 被动 mimic |
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| 速度 | 约 1.35× 墙钟，可用 `--speed` / `--slew-rad-s` 调整 |
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`venv/`、`build/`、`install/`、`log/`、`external_ws/`、`linker_hand_ros2_sdk_ws/` 是环境或 ROS 工作空间。保留原位置，避免破坏虚拟环境及已生成的 ROS 安装路径；平时无需进入这些目录。
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常用参数示例：
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## 旧文件去哪了
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```bash
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./run_g20_mujoco_plan.sh --speed 1.0
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./run_g20_mujoco_plan.sh --cmd-topic /g20/cb_left_hand_control_cmd
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./run_g20_mujoco_plan.sh --mapping g20_calibrated
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```
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- 原根目录 `run_*.sh`：`archive/launchers/`；真机与实验脚本分别进入 `tools/hardware/`、`tools/experiments/`。
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- 原 `exports/`：干净当前包进入 `assets/exports/`，旧版及副本进入 `archive/exports/`。
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- 原 `backups/`：`archive/backups/`。
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- 原 `reports/`：`outputs/reports/`，按 O6/O30 分类。
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- 原 `Linkerbot_URDF/`：`assets/vendor/Linkerbot_URDF/`。
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- 原 README、启动说明、行动计划：`docs/legacy/` 和 `docs/plans/`。
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### 3.2 关节弧度 GUI
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```bash
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./run_g20_joint_gui.sh
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```
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默认订阅 `/sim/mujoco/g20/left/joint_state`，按手指分组显示 hinge 弧度（默认 6 位小数）。
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### 3.3 G20 + L20 双窗对比
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```bash
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./run_dual_mujoco_compare.sh
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```
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- 左窗：当前标定 **G20**（`g20_calibrated`）
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- 右窗：**L20 V10.1** 原版 URDF 映射（`l20_urdf`，默认关 collision project，避免自碰卡住）
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- 共用同一条 0~255 控制话题（默认 `/g20/cb_left_hand_control_cmd`）
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---
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## 四、标定与模型文件（G20）
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目录：
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`src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/`
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| 文件 | 说明 |
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|------|------|
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| `linkerhand_g20_left.urdf` | 当前使用的 URDF（含投影零位修正） |
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| `linker_hand_g20_left.xml` | 当前使用的 MJCF（与 URDF 原点/限位同步） |
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| `g20_left_G20_LEFT_001_calibration.json` | 运行时 0~255→弧度查表（schema 3） |
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| `meshes/` | 网格 |
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映射实现：`utils/g20_joints.py`
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要点：
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1. **主动关节**：用标定 JSON 的 `angle_rad[0..255]` 查表。
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2. **零位**：用 `zero_angles.table_projected_zero_rad` 相对夹具参考修正 URDF/MJCF `origin`（相机投影零位，非完整外参优化）。
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3. **被动关节**：`thumb_ip`、四指 DIP 走 URDF mimic；JSON 里 `thumb_ip` 是累计投影角，**不能**直接当相对关节角。
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4. **四指侧摆**：运行时符号与真机约定见 `G20_FLIP_JOINT_SIGN`。
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当前已知：张开大姿态已基本对齐；拇指 CMC 零位仍可能有小量前探/拧向残差。更稳妥的做法是解耦重测三个 CMC 投影零位，或导出 TAG 全位姿后做原点优化，而不是肉眼加减角度。
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---
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## 五、主要源码入口
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| 路径 | 说明 |
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|------|------|
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| `linker_hand_mujoco_ros2/g20_plan_bridge.py` | G20/L20 MuJoCo PLAN 桥 |
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| `linker_hand_mujoco_ros2/g20_joint_monitor_gui.py` | 关节弧度监视 GUI |
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| `linker_hand_mujoco_ros2/utils/g20_joints.py` | G20 标定查表与映射 |
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| `launch/linker_hand_mujoco_ros2.launch.py` | O6 launch |
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| `urdf/O6/` | O6 MJCF |
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| `urdf/G20/` | G20 URDF/MJCF + 标定 |
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| `urdf/L20_V10.1/` | L20 V10.1 URDF/MJCF |
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| `tools/` | 曲线录制、实验脚本 |
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Console 入口（`setup.py`）：`g20_plan_bridge`、`g20_joint_monitor_gui` 等。
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---
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## 六、克隆与推送
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```bash
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git clone https://gitea.robotquan.com/sunxianghui/mujoco_linkerbot.git
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cd mujoco_linkerbot
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# 自建 venv 并安装 mujoco 等依赖后，再 colcon build
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```
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本仓库 `origin` 指向上述 Gitea 地址。提交后：
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```bash
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git push -u origin main
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```
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---
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## 附录：O6 与多机
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### 本机发一帧（O6 握拳示例）
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```bash
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=30
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export ROS_LOCALHOST_ONLY=0
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ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{
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header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''},
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name: [],
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position: [0.0, 100.0, 0.0, 0.0, 0.0, 0.0],
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velocity: [],
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effort: []
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}"
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```
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### 两台电脑共用 ROS 2
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两边约定同一 Domain：
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```bash
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export ROS_DOMAIN_ID=30
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export ROS_LOCALHOST_ONLY=0
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```
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仿真机跑 `./run_sim.sh` 或 `./run_g20_mujoco_plan.sh`；控制机 `ros2 topic list` / `hz` / `echo` 检查。
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### 通用曲线录制
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```bash
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=30
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export ROS_LOCALHOST_ONLY=0
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python3 tools/hand_curve_recorder_standalone.py --hand left --channel 3 --label sim
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```
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### 常见问题
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**`ModuleNotFoundError: No module named 'mujoco'`**
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用 `./run_sim.sh` / `./run_g20_mujoco_plan.sh`，或手动把 `venv/lib/python3.12/site-packages` 加入 `PYTHONPATH`。
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**L20 双窗对比时手不动**
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自碰投影会把目标打回；`run_dual_mujoco_compare.sh` 已对 L20 默认 `--no-collision-project`。
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---
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## 许可与归属
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包内模型与标定数据来自 Linker Hand / 本机标定流程；请按公司内部仓库规范使用与分发。
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本轮仅整理目录和路径引用，不改关节参数、网格或控制话题。O30 左手入口从旧 V9 文件名切换到干净 V10 文件名，已核对两个 URDF 的 SHA256 完全一致。
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Executable
+6
@@ -0,0 +1,6 @@
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#!/usr/bin/env bash
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# 兼容入口：左手双开（G20 标定 vs L20 V10.1 未标定）
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# 实际逻辑见 run_g20_left_dual_compare.sh（与右手 run_g20_right_dual_compare.sh 对称）
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/G20/scripts/run_g20_left_dual_compare.sh" "$@"
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Executable
+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/G20/scripts/run_g20_joint_gui.sh" "$@"
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+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/G20/scripts/run_g20_left_desktop_urdf.sh" "$@"
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+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/G20/scripts/run_g20_left_dual_compare.sh" "$@"
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+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/G20/scripts/run_g20_left_mcp_roll_check.sh" "$@"
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Executable
+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/G20/scripts/run_g20_mujoco_plan.sh" "$@"
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+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/G20/scripts/run_g20_right_dual_compare.sh" "$@"
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Executable
+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/G20/scripts/run_g20_right_joint_gui.sh" "$@"
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+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/G20/scripts/run_g20_right_mujoco_plan.sh" "$@"
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+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/L6/scripts/run_l6_left_dual_compare.sh" "$@"
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Executable
+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/L6/scripts/run_l6_left_mujoco_plan.sh" "$@"
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||||
+4
@@ -0,0 +1,4 @@
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||||
#!/usr/bin/env bash
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# Compatibility entry; implementation is grouped by hand model.
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||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
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exec "$ROOT/hands/L6/scripts/run_l6_right_dual_compare.sh" "$@"
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+4
@@ -0,0 +1,4 @@
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#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/L6/scripts/run_l6_right_mujoco_plan.sh" "$@"
|
||||
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O12/scripts/run_o12_right_dual_compare.sh" "$@"
|
||||
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O12/scripts/run_o12_right_mujoco_plan.sh" "$@"
|
||||
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O30/scripts/run_o30_left_mujoco_plan.sh" "$@"
|
||||
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O30/scripts/run_o30_right_mujoco_plan.sh" "$@"
|
||||
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O30/legacy/run_o30_right_v5_piecewise.sh" "$@"
|
||||
Executable
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O30/legacy/run_o30_right_v6_linear.sh" "$@"
|
||||
Executable
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O30/legacy/run_o30_right_v7_linear.sh" "$@"
|
||||
Executable
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O30/legacy/run_o30_right_v8_linear.sh" "$@"
|
||||
Executable
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O30/legacy/run_o30_right_v9_linear.sh" "$@"
|
||||
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O6/scripts/run_o6_left_dual_compare.sh" "$@"
|
||||
Executable
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O6/scripts/run_o6_left_mujoco_plan.sh" "$@"
|
||||
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O6/scripts/run_o6_right_dual_compare.sh" "$@"
|
||||
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Compatibility entry; implementation is grouped by hand model.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/O6/scripts/run_o6_right_mujoco_plan.sh" "$@"
|
||||
Executable
+4
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/env bash
|
||||
# Legacy ROS launch interface; prefer hands/<MODEL>/run_<SIDE>.sh.
|
||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
|
||||
exec "$ROOT/hands/legacy/run_sim.sh" "$@"
|
||||
@@ -0,0 +1,167 @@
|
||||
{
|
||||
"date": "20260928_104430",
|
||||
"moves": {
|
||||
"run_o6_right_dual_compare.sh": "archive/launchers/run_o6_right_dual_compare.sh",
|
||||
"run_g20_joint_gui.sh": "archive/launchers/run_g20_joint_gui.sh",
|
||||
"run_o6_right_mujoco_plan.sh": "archive/launchers/run_o6_right_mujoco_plan.sh",
|
||||
"run_o30_right_v9_linear.sh": "archive/launchers/run_o30_right_v9_linear.sh",
|
||||
"run_o30_left_mujoco_plan.sh": "archive/launchers/run_o30_left_mujoco_plan.sh",
|
||||
"run_dual_mujoco_compare.sh": "archive/launchers/run_dual_mujoco_compare.sh",
|
||||
"run_o6_left_dual_compare.sh": "archive/launchers/run_o6_left_dual_compare.sh",
|
||||
"run_l6_right_mujoco_plan.sh": "archive/launchers/run_l6_right_mujoco_plan.sh",
|
||||
"run_g20_mujoco_plan.sh": "archive/launchers/run_g20_mujoco_plan.sh",
|
||||
"run_g20_right_dual_compare.sh": "archive/launchers/run_g20_right_dual_compare.sh",
|
||||
"run_g20_left_dual_compare.sh": "archive/launchers/run_g20_left_dual_compare.sh",
|
||||
"run_o30_right_mujoco_plan.sh": "archive/launchers/run_o30_right_mujoco_plan.sh",
|
||||
"run_o12_right_dual_compare.sh": "archive/launchers/run_o12_right_dual_compare.sh",
|
||||
"run_sim.sh": "archive/launchers/run_sim.sh",
|
||||
"run_o30_right_v7_linear.sh": "archive/launchers/run_o30_right_v7_linear.sh",
|
||||
"run_l6_left_dual_compare.sh": "archive/launchers/run_l6_left_dual_compare.sh",
|
||||
"run_g20_left_mcp_roll_check.sh": "archive/launchers/run_g20_left_mcp_roll_check.sh",
|
||||
"run_l6_right_dual_compare.sh": "archive/launchers/run_l6_right_dual_compare.sh",
|
||||
"run_l6_left_mujoco_plan.sh": "archive/launchers/run_l6_left_mujoco_plan.sh",
|
||||
"run_o30_right_v6_linear.sh": "archive/launchers/run_o30_right_v6_linear.sh",
|
||||
"run_o12_right_mujoco_plan.sh": "archive/launchers/run_o12_right_mujoco_plan.sh",
|
||||
"run_g20_left_desktop_urdf.sh": "archive/launchers/run_g20_left_desktop_urdf.sh",
|
||||
"run_o30_right_v8_linear.sh": "archive/launchers/run_o30_right_v8_linear.sh",
|
||||
"run_g20_right_joint_gui.sh": "archive/launchers/run_g20_right_joint_gui.sh",
|
||||
"run_o6_left_mujoco_plan.sh": "archive/launchers/run_o6_left_mujoco_plan.sh",
|
||||
"run_o30_right_v5_piecewise.sh": "archive/launchers/run_o30_right_v5_piecewise.sh",
|
||||
"run_g20_right_mujoco_plan.sh": "archive/launchers/run_g20_right_mujoco_plan.sh",
|
||||
"run_real_middle_record.sh": "tools/hardware/run_real_middle_record.sh",
|
||||
"run_real_hand.sh": "tools/hardware/run_real_hand.sh",
|
||||
"run_middle_step_experiment.sh": "tools/experiments/run_middle_step_experiment.sh",
|
||||
"hands/L6/run_l6_right_mujoco_plan.sh": "hands/L6/scripts/run_l6_right_mujoco_plan.sh",
|
||||
"hands/L6/run_l6_left_dual_compare.sh": "hands/L6/scripts/run_l6_left_dual_compare.sh",
|
||||
"hands/L6/run_l6_right_dual_compare.sh": "hands/L6/scripts/run_l6_right_dual_compare.sh",
|
||||
"hands/L6/run_l6_left_mujoco_plan.sh": "hands/L6/scripts/run_l6_left_mujoco_plan.sh",
|
||||
"hands/O30/run_o30_left_mujoco_plan.sh": "hands/O30/scripts/run_o30_left_mujoco_plan.sh",
|
||||
"hands/O30/run_o30_right_mujoco_plan.sh": "hands/O30/scripts/run_o30_right_mujoco_plan.sh",
|
||||
"hands/O12/run_o12_right_dual_compare.sh": "hands/O12/scripts/run_o12_right_dual_compare.sh",
|
||||
"hands/O12/run_o12_right_mujoco_plan.sh": "hands/O12/scripts/run_o12_right_mujoco_plan.sh",
|
||||
"hands/G20/run_g20_joint_gui.sh": "hands/G20/scripts/run_g20_joint_gui.sh",
|
||||
"hands/G20/run_g20_mujoco_plan.sh": "hands/G20/scripts/run_g20_mujoco_plan.sh",
|
||||
"hands/G20/run_g20_right_dual_compare.sh": "hands/G20/scripts/run_g20_right_dual_compare.sh",
|
||||
"hands/G20/run_g20_left_dual_compare.sh": "hands/G20/scripts/run_g20_left_dual_compare.sh",
|
||||
"hands/G20/run_g20_left_mcp_roll_check.sh": "hands/G20/scripts/run_g20_left_mcp_roll_check.sh",
|
||||
"hands/G20/run_g20_left_desktop_urdf.sh": "hands/G20/scripts/run_g20_left_desktop_urdf.sh",
|
||||
"hands/G20/run_g20_right_joint_gui.sh": "hands/G20/scripts/run_g20_right_joint_gui.sh",
|
||||
"hands/G20/run_g20_right_mujoco_plan.sh": "hands/G20/scripts/run_g20_right_mujoco_plan.sh",
|
||||
"hands/O6/run_o6_right_dual_compare.sh": "hands/O6/scripts/run_o6_right_dual_compare.sh",
|
||||
"hands/O6/run_o6_right_mujoco_plan.sh": "hands/O6/scripts/run_o6_right_mujoco_plan.sh",
|
||||
"hands/O6/run_o6_left_dual_compare.sh": "hands/O6/scripts/run_o6_left_dual_compare.sh",
|
||||
"hands/O6/run_o6_left_mujoco_plan.sh": "hands/O6/scripts/run_o6_left_mujoco_plan.sh",
|
||||
"backups": "archive/backups",
|
||||
"exports": "assets/exports",
|
||||
"Linkerbot_URDF": "assets/vendor/Linkerbot_URDF",
|
||||
"reports": "outputs/reports",
|
||||
"MUJOCO_LOG.TXT": "outputs/logs/MUJOCO_LOG.TXT",
|
||||
"README.md": "docs/legacy/README_before_directory_cleanup.md",
|
||||
"README_启动.md": "docs/legacy/README_启动.md",
|
||||
"议题3_仿真负责人行动计划.md": "docs/plans/议题3_仿真负责人行动计划.md",
|
||||
"assets/exports/O30_right_V7_linear": "archive/exports/O30_right_V7_linear",
|
||||
"assets/exports/O30_right_V9_linear": "archive/exports/O30_right_V9_linear",
|
||||
"assets/exports/O30_V9_left_right": "archive/exports/O30_V9_left_right",
|
||||
"assets/exports/O30_right_V6_linear.zip": "archive/exports/O30_right_V6_linear.zip",
|
||||
"assets/exports/O30_right_V7_linear.zip": "archive/exports/O30_right_V7_linear.zip",
|
||||
"assets/exports/O30_V10_left_right (副本)": "archive/exports/O30_V10_left_right (副本)",
|
||||
"assets/exports/O30_V9_left_right.zip": "archive/exports/O30_V9_left_right.zip",
|
||||
"assets/exports/O30_right_V10_linear.zip": "archive/exports/O30_right_V10_linear.zip",
|
||||
"assets/exports/O30_right_V8_linear.zip": "archive/exports/O30_right_V8_linear.zip",
|
||||
"assets/exports/O30_right_V6_linear": "archive/exports/O30_right_V6_linear",
|
||||
"assets/exports/O30_left_right (副本)": "archive/exports/O30_left_right (副本)",
|
||||
"assets/exports/O30_right_V10_linear": "archive/exports/O30_right_V10_linear",
|
||||
"assets/exports/O30_left_right (副本).zip": "archive/exports/O30_left_right (副本).zip",
|
||||
"assets/exports/O30_right_V8_linear": "archive/exports/O30_right_V8_linear",
|
||||
"assets/exports/O30_right_V9_linear.zip": "archive/exports/O30_right_V9_linear.zip",
|
||||
"outputs/reports/o30_right_middle_review": "outputs/reports/O30/o30_right_middle_review",
|
||||
"outputs/reports/o30_right_multiview_calibration": "outputs/reports/O30/o30_right_multiview_calibration",
|
||||
"outputs/reports/o30_right_two_joint_calibration": "outputs/reports/O30/o30_right_two_joint_calibration",
|
||||
"outputs/reports/O6_index_sweep": "outputs/reports/O6/O6_index_sweep",
|
||||
"outputs/reports/o30_right_tip_review": "outputs/reports/O30/o30_right_tip_review",
|
||||
"outputs/reports/o30_right_zero_v10_calibration": "outputs/reports/O30/o30_right_zero_v10_calibration",
|
||||
"outputs/reports/o30_right_pinch_calibration": "outputs/reports/O30/o30_right_pinch_calibration",
|
||||
"outputs/reports/o30_right_middle_calibration": "outputs/reports/O30/o30_right_middle_calibration",
|
||||
"outputs/reports/o30_right_zero_review": "outputs/reports/O30/o30_right_zero_review",
|
||||
"outputs/reports/o30_right_pinky_refinement": "outputs/reports/O30/o30_right_pinky_refinement",
|
||||
"outputs/reports/o30_right_pinky_root_calibration": "outputs/reports/O30/o30_right_pinky_root_calibration",
|
||||
"outputs/reports/o30_right_photo_calibration": "outputs/reports/O30/o30_right_photo_calibration",
|
||||
"outputs/reports/o30_right_two_joint_review": "outputs/reports/O30/o30_right_two_joint_review",
|
||||
"outputs/reports/o30_right_endpoint_calibration": "outputs/reports/O30/o30_right_endpoint_calibration",
|
||||
"outputs/reports/O6_middle_sweep": "outputs/reports/O6/O6_middle_sweep",
|
||||
"outputs/reports/O6_middle_ros": "outputs/reports/O6/O6_middle_ros",
|
||||
"outputs/reports/o30_right_linear_calibration": "outputs/reports/O30/o30_right_linear_calibration"
|
||||
},
|
||||
"updated_text_files": [
|
||||
"hands/L6/run_left.sh",
|
||||
"hands/L6/run_right.sh",
|
||||
"hands/O30/run_left.sh",
|
||||
"hands/O30/run_right.sh",
|
||||
"hands/O12/run_right.sh",
|
||||
"hands/G20/run_left.sh",
|
||||
"hands/G20/run_right.sh",
|
||||
"hands/O6/run_left.sh",
|
||||
"hands/O6/run_right.sh",
|
||||
"hands/L6/scripts/run_l6_right_mujoco_plan.sh",
|
||||
"hands/L6/scripts/run_l6_left_dual_compare.sh",
|
||||
"hands/L6/scripts/run_l6_right_dual_compare.sh",
|
||||
"hands/L6/scripts/run_l6_left_mujoco_plan.sh",
|
||||
"hands/O30/legacy/run_o30_right_v9_linear.sh",
|
||||
"hands/O30/legacy/run_o30_right_v7_linear.sh",
|
||||
"hands/O30/legacy/run_o30_right_v6_linear.sh",
|
||||
"hands/O30/legacy/run_o30_right_v8_linear.sh",
|
||||
"hands/O30/legacy/run_o30_right_v5_piecewise.sh",
|
||||
"hands/O30/scripts/run_o30_left_mujoco_plan.sh",
|
||||
"hands/O30/scripts/run_o30_right_mujoco_plan.sh",
|
||||
"hands/O12/scripts/run_o12_right_dual_compare.sh",
|
||||
"hands/O12/scripts/run_o12_right_mujoco_plan.sh",
|
||||
"hands/G20/scripts/run_g20_right_dual_compare.sh",
|
||||
"hands/G20/scripts/run_g20_left_dual_compare.sh",
|
||||
"hands/G20/scripts/run_g20_left_mcp_roll_check.sh",
|
||||
"hands/G20/scripts/run_g20_left_desktop_urdf.sh",
|
||||
"hands/G20/scripts/run_g20_right_mujoco_plan.sh",
|
||||
"hands/O6/scripts/run_o6_right_dual_compare.sh",
|
||||
"hands/O6/scripts/run_o6_right_mujoco_plan.sh",
|
||||
"hands/O6/scripts/run_o6_left_dual_compare.sh",
|
||||
"hands/O6/scripts/run_o6_left_mujoco_plan.sh",
|
||||
"tools/run_middle_step_experiment.py",
|
||||
"tools/hand_curve_recorder_standalone.py",
|
||||
"tools/ros_real_record_qvt.py",
|
||||
"tools/ros_mujoco_record_qvt.py",
|
||||
"tools/friction_id/sweep_index_plot.py",
|
||||
"tools/experiments/run_middle_step_experiment.sh",
|
||||
"tools/o30_mirror/build.py",
|
||||
"tools/o30_right_calibration/two_joint_review.py",
|
||||
"tools/o30_right_calibration/fit_two_joints.py",
|
||||
"tools/o30_right_calibration/README_v7.md",
|
||||
"tools/o30_right_calibration/fit_photos.py",
|
||||
"tools/o30_right_calibration/fit_middle.py",
|
||||
"tools/o30_right_calibration/README_v3.md",
|
||||
"tools/o30_right_calibration/fit_linear.py",
|
||||
"tools/o30_right_calibration/README.md",
|
||||
"tools/o30_right_calibration/fit_pinky.py",
|
||||
"tools/o30_right_calibration/README_v1.md",
|
||||
"tools/o30_right_calibration/README_v8.md",
|
||||
"tools/o30_right_calibration/calibrate.py",
|
||||
"tools/o30_right_calibration/fit_multiview.py",
|
||||
"tools/o30_right_calibration/README_v9.md",
|
||||
"tools/o30_right_calibration/fit_pinky_root.py",
|
||||
"tools/o30_right_calibration/README_v2.md",
|
||||
"tools/o30_right_calibration/fit_zero_v10.py",
|
||||
"tools/o30_right_calibration/README_v5.md",
|
||||
"tools/o30_right_calibration/README_v4.md",
|
||||
"tools/o30_right_calibration/fit_endpoints.py",
|
||||
"tools/o30_right_calibration/README_v6.md",
|
||||
"src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/hand_curve_recorder.py",
|
||||
"src/linkerhand-sim/linker_hand_mujoco_ros2/launch/hand_curve_recorder.launch.py",
|
||||
"src/linkerhand-sim/linker_hand_mujoco_ros2/launch/g20_plan_bridge.launch.py",
|
||||
"outputs/reports/o30_right_tip_review/render_rejected_candidate.py",
|
||||
"outputs/reports/o30_right_tip_review/search_restricted.py",
|
||||
"outputs/reports/o30_right_tip_review/search_relaxed_diagnostic.py",
|
||||
"outputs/reports/o30_right_tip_review/strict_geometry/pivot_probe.py",
|
||||
"outputs/reports/o30_right_tip_review/strict_geometry/check_axes.py",
|
||||
"outputs/reports/o30_right_tip_review/strict_geometry/isolated_mcp_review.py",
|
||||
"archive/launchers/run_dual_mujoco_compare.sh"
|
||||
],
|
||||
"backup": "archive/backups/before_directory_cleanup_20260928_104430"
|
||||
}
|
||||
Binary file not shown.
@@ -0,0 +1,28 @@
|
||||
# O30 V10 左右手（最新零位校准版）
|
||||
|
||||
此目录为最新 V10 的独立副本，文件名已统一为 v10。旧目录和启动脚本未更改。
|
||||
|
||||
- 左手：`left/linkerhand_o30_left_v10.urdf`
|
||||
- 右手：`right/linkerhand_o30_right_v10.urdf`
|
||||
- 两侧各附带自己的 `meshes/`，移动时需与对应 URDF 一起复制。
|
||||
|
||||
右手是最新 V10 零位校准版，左手为其完整镜像。保持 SDK 0～255 按关节限位纯线性换算，没有分段映射。相同 SDK 顺序见 `sdk_joint_order.txt`；四组对指及零位见 `commands.json` 的 `sdk_command`。
|
||||
|
||||
零位指令：
|
||||
|
||||
```
|
||||
[0,0,255,197,110,28,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
|
||||
```
|
||||
|
||||
`left_ros_radians` 只是内部弧度参考，不能当作 SDK 指令发送。左手话题为 `/cb_left_hand_control_cmd`，右手为 `/cb_right_hand_control_cmd`，均接收 JointState.position 的 20 个 SDK 值。
|
||||
|
||||
从本目录显式启动（在项目根目录执行）：
|
||||
|
||||
```bash
|
||||
O30_LEFT_URDF="$PWD/exports/O30_V10_left_right/left/linkerhand_o30_left_v10.urdf" ./run_o30_left_mujoco_plan.sh
|
||||
O30_RIGHT_URDF="$PWD/exports/O30_V10_left_right/right/linkerhand_o30_right_v10.urdf" ./run_o30_right_mujoco_plan.sh
|
||||
```
|
||||
|
||||
复制来源已通过原始 SHA256 检查；新左右手 URDF 和网格与来源一致，仅 URDF 文件名更新。`validation.json` 与 `comparison.png` 为这些相同资产的既有验证记录和预览，复制本身不表示重新拟合。
|
||||
|
||||
左手仍是右手的对称仿真资产，未对左手真机单独标定。V10 基于伸直/并行几何先验调整零位，保留四组捏合及已校准弯曲端点，不代表照片精确测角或真机全行程验证。
|
||||
@@ -0,0 +1,52 @@
|
||||
{
|
||||
"README.md": "a147289beed7c19242d3d21b6a7ad030c0ab1072e2957ca99214d99f83adcf23",
|
||||
"commands.json": "69879230c754d5b36a59962b9a46f858f7a928adbf0aa7f06aa5408ce0e99b0e",
|
||||
"comparison.png": "3c2e88a55788dfef722401006b0313ba82ee6ea31f3a6e9c0ba8729b79d6bdce",
|
||||
"left/linkerhand_o30_left_v10.urdf": "44c8fdb411a712cac1f6be83b31c97344684e850ea1fbdb784ee93f2b515fe7a",
|
||||
"left/meshes/hand_base_link.STL": "0a2d3b5716441a937b4983f544d5f7e9cf48efa406834bd99088c260a9fe161d",
|
||||
"left/meshes/index_distal.STL": "dc58601a997bb95b70bf304cca6162942c0156aca17790adb94f5856235c9916",
|
||||
"left/meshes/index_metacarpals.STL": "43fe41dee08b286c9c74d028518e6039a60fa875fa9786f19e8b0fa84bc2e2c2",
|
||||
"left/meshes/index_middle.STL": "9b921b66922da9ccefd37b363728931747278200c50b566c79a1240afc8b3627",
|
||||
"left/meshes/index_proximal.STL": "e8f06b5aaee297b71818bb60f338fa795d546061d1db00b056d99af1817644a3",
|
||||
"left/meshes/middle_distal.STL": "dc58601a997bb95b70bf304cca6162942c0156aca17790adb94f5856235c9916",
|
||||
"left/meshes/middle_metacarpals.STL": "43fe41dee08b286c9c74d028518e6039a60fa875fa9786f19e8b0fa84bc2e2c2",
|
||||
"left/meshes/middle_middle.STL": "9b921b66922da9ccefd37b363728931747278200c50b566c79a1240afc8b3627",
|
||||
"left/meshes/middle_proximal.STL": "e8f06b5aaee297b71818bb60f338fa795d546061d1db00b056d99af1817644a3",
|
||||
"left/meshes/pinky_distal.STL": "dc58601a997bb95b70bf304cca6162942c0156aca17790adb94f5856235c9916",
|
||||
"left/meshes/pinky_metacarpals.STL": "43fe41dee08b286c9c74d028518e6039a60fa875fa9786f19e8b0fa84bc2e2c2",
|
||||
"left/meshes/pinky_middle.STL": "9b921b66922da9ccefd37b363728931747278200c50b566c79a1240afc8b3627",
|
||||
"left/meshes/pinky_proximal.STL": "e8f06b5aaee297b71818bb60f338fa795d546061d1db00b056d99af1817644a3",
|
||||
"left/meshes/ring_distal.STL": "dc58601a997bb95b70bf304cca6162942c0156aca17790adb94f5856235c9916",
|
||||
"left/meshes/ring_metacarpals.STL": "43fe41dee08b286c9c74d028518e6039a60fa875fa9786f19e8b0fa84bc2e2c2",
|
||||
"left/meshes/ring_middle.STL": "9b921b66922da9ccefd37b363728931747278200c50b566c79a1240afc8b3627",
|
||||
"left/meshes/ring_proximal.STL": "e8f06b5aaee297b71818bb60f338fa795d546061d1db00b056d99af1817644a3",
|
||||
"left/meshes/thumb_distal.STL": "096be98ed92fa14e975bd0564ec0ae80c3d785bac2a067f95120c20384b0e648",
|
||||
"left/meshes/thumb_metacarpals_base1.STL": "f13ee3f0f9c3a63738badd186897b5e6ed06a3e470dc860d632ebd39afe13bcf",
|
||||
"left/meshes/thumb_metacarpals_base2.STL": "ee4b38c013c1ac058fbc8acc2a80ab6da2bf6488a923c0bb1c17d241727941e6",
|
||||
"left/meshes/thumb_proximal.STL": "58b7ee4495f9a9a08986569495bc2e95b1c637285e8704b1ad2091eb5a328260",
|
||||
"right/linkerhand_o30_right_v10.urdf": "f233c5eff38ba46d1a2826c2624fc8a13e86ed0c74c6b914bf0fcc021b43e439",
|
||||
"right/meshes/hand_base_link.STL": "716e9d422aa39f8d55f86e6d39edde411464fc8a5efeb5c1704d94769dc255ae",
|
||||
"right/meshes/index_distal.STL": "1d99204e33765680dccc175c99144e7694069fa1a5bdf3f4207abe4471ec2dd9",
|
||||
"right/meshes/index_metacarpals.STL": "e20eec3a9178a3b2d49f42e73dc7beebe36a7d54d4bc1956c84012c1d57cdff7",
|
||||
"right/meshes/index_middle.STL": "8c659e3ad85a73f0e2da7e54dc83ecfd1abfa453f87c72f2feb30cbdda8937f5",
|
||||
"right/meshes/index_proximal.STL": "4537368931f8b361d89f80263d408fb8a1d8c1457d01dc45988dfb129c6a91ca",
|
||||
"right/meshes/middle_distal.STL": "1d99204e33765680dccc175c99144e7694069fa1a5bdf3f4207abe4471ec2dd9",
|
||||
"right/meshes/middle_metacarpals.STL": "e20eec3a9178a3b2d49f42e73dc7beebe36a7d54d4bc1956c84012c1d57cdff7",
|
||||
"right/meshes/middle_middle.STL": "8c659e3ad85a73f0e2da7e54dc83ecfd1abfa453f87c72f2feb30cbdda8937f5",
|
||||
"right/meshes/middle_proximal.STL": "4537368931f8b361d89f80263d408fb8a1d8c1457d01dc45988dfb129c6a91ca",
|
||||
"right/meshes/pinky_distal.STL": "1d99204e33765680dccc175c99144e7694069fa1a5bdf3f4207abe4471ec2dd9",
|
||||
"right/meshes/pinky_metacarpals.STL": "e20eec3a9178a3b2d49f42e73dc7beebe36a7d54d4bc1956c84012c1d57cdff7",
|
||||
"right/meshes/pinky_middle.STL": "8c659e3ad85a73f0e2da7e54dc83ecfd1abfa453f87c72f2feb30cbdda8937f5",
|
||||
"right/meshes/pinky_proximal.STL": "4537368931f8b361d89f80263d408fb8a1d8c1457d01dc45988dfb129c6a91ca",
|
||||
"right/meshes/ring_distal.STL": "1d99204e33765680dccc175c99144e7694069fa1a5bdf3f4207abe4471ec2dd9",
|
||||
"right/meshes/ring_metacarpals.STL": "e20eec3a9178a3b2d49f42e73dc7beebe36a7d54d4bc1956c84012c1d57cdff7",
|
||||
"right/meshes/ring_middle.STL": "8c659e3ad85a73f0e2da7e54dc83ecfd1abfa453f87c72f2feb30cbdda8937f5",
|
||||
"right/meshes/ring_proximal.STL": "4537368931f8b361d89f80263d408fb8a1d8c1457d01dc45988dfb129c6a91ca",
|
||||
"right/meshes/thumb_distal.STL": "2787c34dbc977938bd3975241870a6c43861bc06a4d7af995b7ff81e183106bd",
|
||||
"right/meshes/thumb_metacarpals_base1.STL": "c9f36d66bc9d71c19baf3b33efa3cdcfe3a08bda9553ad09a8b65dcd1500f9b3",
|
||||
"right/meshes/thumb_metacarpals_base2.STL": "0c8a4fe61141aaadda809cb5d03a51ec1e07fb4799e941aaa4eff1dc8e4ed260",
|
||||
"right/meshes/thumb_proximal.STL": "2f2d5d1295e613a9545dac8f31834e1de93583d85786c59f5be269f1049b9a3e",
|
||||
"sdk_joint_order.txt": "748b195c245f3567d22e3f71dd41585c32518906e36096ffe4fb8d70a2d9b5c8",
|
||||
"validation.json": "a82168d0f719d54ddbbc5003fce1b45816cafad09a1a6d2fbaadfacda234cab1",
|
||||
"version.json": "f2f92c82292faab7b2586350da189488824b09dd326e96d5a30f8b8dc391c64e"
|
||||
}
|
||||
@@ -0,0 +1,281 @@
|
||||
{
|
||||
"asset_version": "V10",
|
||||
"command_topic": "/cb_left_hand_control_cmd",
|
||||
"command_units": "SDK 0..255; send sdk_command, not left_ros_radians",
|
||||
"sdk_joint_order": [
|
||||
"thumb_cmc_roll",
|
||||
"thumb_cmc_yaw",
|
||||
"index_mcp_roll",
|
||||
"middle_mcp_roll",
|
||||
"ring_mcp_roll",
|
||||
"pinky_mcp_roll",
|
||||
"thumb_mcp",
|
||||
"index_mcp_pitch",
|
||||
"middle_mcp_pitch",
|
||||
"ring_mcp_pitch",
|
||||
"pinky_mcp_pitch",
|
||||
"index_pip",
|
||||
"middle_pip",
|
||||
"ring_pip",
|
||||
"pinky_pip",
|
||||
"thumb_ip",
|
||||
"index_dip",
|
||||
"middle_dip",
|
||||
"ring_dip",
|
||||
"pinky_dip"
|
||||
],
|
||||
"left_ros_order": [
|
||||
"thumb_cmc_roll",
|
||||
"thumb_cmc_yaw",
|
||||
"thumb_mcp",
|
||||
"thumb_ip",
|
||||
"index_mcp_roll",
|
||||
"index_mcp_pitch",
|
||||
"index_pip",
|
||||
"index_dip",
|
||||
"middle_mcp_roll",
|
||||
"middle_mcp_pitch",
|
||||
"middle_pip",
|
||||
"middle_dip",
|
||||
"ring_mcp_roll",
|
||||
"ring_mcp_pitch",
|
||||
"ring_pip",
|
||||
"ring_dip",
|
||||
"pinky_mcp_roll",
|
||||
"pinky_mcp_pitch",
|
||||
"pinky_pip",
|
||||
"pinky_dip"
|
||||
],
|
||||
"pinches": {
|
||||
"index": {
|
||||
"sdk_command": [
|
||||
55,
|
||||
181,
|
||||
225,
|
||||
176,
|
||||
212,
|
||||
162,
|
||||
135,
|
||||
164,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
139,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"left_ros_radians": [
|
||||
0.18813577840372547,
|
||||
1.4396582597857257,
|
||||
1.0277351056058823,
|
||||
0.0,
|
||||
-0.09370641027822224,
|
||||
1.11587286439394,
|
||||
0.8020369133142686,
|
||||
0.0,
|
||||
-0.056923250644910384,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.20105220210793762,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.17710860883550222,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
},
|
||||
"middle": {
|
||||
"sdk_command": [
|
||||
137,
|
||||
166,
|
||||
225,
|
||||
176,
|
||||
212,
|
||||
162,
|
||||
174,
|
||||
0,
|
||||
78,
|
||||
0,
|
||||
0,
|
||||
139,
|
||||
216,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
79,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"left_ros_radians": [
|
||||
0.468629120751098,
|
||||
1.3203495642233727,
|
||||
1.3246363583364706,
|
||||
0.0,
|
||||
-0.09370641027822224,
|
||||
0.0,
|
||||
0.8020369133142686,
|
||||
0.0,
|
||||
-0.056923250644910384,
|
||||
0.4851377064829213,
|
||||
1.3475198126296868,
|
||||
0.49499464386611763,
|
||||
0.20105220210793762,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.17710860883550222,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
},
|
||||
"ring": {
|
||||
"sdk_command": [
|
||||
255,
|
||||
172,
|
||||
169,
|
||||
169,
|
||||
162,
|
||||
170,
|
||||
143,
|
||||
0,
|
||||
0,
|
||||
140,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
172,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
61,
|
||||
0
|
||||
],
|
||||
"left_ros_radians": [
|
||||
0.87226588169,
|
||||
1.3680730424483138,
|
||||
1.0886379266788235,
|
||||
0.0,
|
||||
-0.16919281483119805,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
-0.07162232590335149,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.09967196576172593,
|
||||
0.8531488605184314,
|
||||
1.07031189749349,
|
||||
0.3765771849929412,
|
||||
0.18856088581503322,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
},
|
||||
"pinky": {
|
||||
"sdk_command": [
|
||||
101,
|
||||
255,
|
||||
169,
|
||||
169,
|
||||
162,
|
||||
170,
|
||||
98,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
166,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
150,
|
||||
52,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
107
|
||||
],
|
||||
"left_ros_radians": [
|
||||
0.3454857021595686,
|
||||
2.02824782456,
|
||||
0.7460595581435294,
|
||||
0.32699495581089144,
|
||||
-0.16919281483119805,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
-0.07162232590335149,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.09967196576172593,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.18856088581503322,
|
||||
1.136714936245495,
|
||||
0.9274665849352941,
|
||||
0.6655254905272548
|
||||
]
|
||||
}
|
||||
},
|
||||
"zero": {
|
||||
"sdk_command": [
|
||||
0,
|
||||
0,
|
||||
255,
|
||||
197,
|
||||
110,
|
||||
28,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"left_ros_radians": [
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
-0.053267264981985196,
|
||||
0.0,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
0.0,
|
||||
0.0
|
||||
]
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 169 KiB |
@@ -0,0 +1,605 @@
|
||||
<?xml version='1.0' encoding='utf-8'?>
|
||||
<robot name="linkerhand_o30_left_v10_mirrored">
|
||||
<link name="hand_base_link">
|
||||
<inertial>
|
||||
<origin xyz="0.043952 -0.014169 0.022868" rpy="-0 0 -0" />
|
||||
<mass value="0.046494" />
|
||||
<inertia ixx="2.6054E-05" ixy="4.7068e-07" ixz="2.1277E-06" iyy="5.2487E-05" iyz="-2.7986e-06" izz="3.1143E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/hand_base_link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/hand_base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="thumb_metacarpals_base1">
|
||||
<inertial>
|
||||
<origin xyz="-0.010316 -0.0066586 -0.0024476" rpy="-0 0 -0" />
|
||||
<mass value="0.0024826" />
|
||||
<inertia ixx="1.6045E-07" ixy="2.6684e-08" ixz="-1.7024E-08" iyy="1.7121E-07" iyz="2.6748e-08" izz="2.3246E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base1.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base1.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_cmc_roll" type="revolute">
|
||||
<origin xyz="0.018257 -0.012998 0.024272" rpy="0.07680614007600001 0 -0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="thumb_metacarpals_base1" />
|
||||
<axis xyz="-1 0 -0" />
|
||||
<limit lower="0" upper="0.87226588169" effort="1" velocity="1" />
|
||||
</joint>
|
||||
<link name="thumb_metacarpals_base2">
|
||||
<inertial>
|
||||
<origin xyz="0.00038148 -0.0076809 0.0021853" rpy="-0 0 -0" />
|
||||
<mass value="0.0011821" />
|
||||
<inertia ixx="3.9644E-08" ixy="-2.1365e-10" ixz="7.766E-11" iyy="1.569E-08" iyz="7.709600000000001e-09" izz="3.6362E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base2.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base2.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_cmc_yaw" type="revolute">
|
||||
<origin xyz="-0.00215 -0.015238 0" rpy="-0 0 0.0283606787672" />
|
||||
<parent link="thumb_metacarpals_base1" />
|
||||
<child link="thumb_metacarpals_base2" />
|
||||
<axis xyz="-0 0 1" />
|
||||
<limit lower="0" upper="2.02824782456" effort="1" velocity="1" />
|
||||
</joint>
|
||||
<link name="thumb_proximal">
|
||||
<inertial>
|
||||
<origin xyz="3.6654e-06 -0.023946 -0.0037436" rpy="-0 0 -0" />
|
||||
<mass value="0.0073969" />
|
||||
<inertia ixx="1.1793E-06" ixy="-1.3736e-10" ixz="-9.6655E-11" iyy="6.5357E-07" iyz="5.8031e-08" izz="1.0764E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_mcp" type="revolute">
|
||||
<origin xyz="0.00045 -0.015539 0.0029937" rpy="0.384266722602 0 -0" />
|
||||
<parent link="thumb_metacarpals_base2" />
|
||||
<child link="thumb_proximal" />
|
||||
<axis xyz="-1 0 -0" />
|
||||
<limit lower="0" upper="1.9412774217" effort="1" velocity="1" />
|
||||
</joint>
|
||||
<link name="thumb_distal">
|
||||
<inertial>
|
||||
<origin xyz="2.0498e-05 -0.02017 -0.00424" rpy="-0 0 -0" />
|
||||
<mass value="0.0079712" />
|
||||
<inertia ixx="8.2871E-07" ixy="4.2596e-11" ixz="-2.569E-11" iyy="3.2681E-07" iyz="-2.6339e-08" izz="8.3897E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_ip" type="revolute">
|
||||
<origin xyz="0 -0.048532 0.00155" rpy="0.0327366295854 0 -0" />
|
||||
<parent link="thumb_proximal" />
|
||||
<child link="thumb_distal" />
|
||||
<axis xyz="-1 0 -0" />
|
||||
<limit lower="0" upper="1.603532956380333" effort="1" velocity="1" />
|
||||
</joint>
|
||||
<link name="index_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258094052 5.13953894481882e-05 -0.00136151819442749" rpy="-0 0 -0" />
|
||||
<mass value="0.00661261244742178" />
|
||||
<inertia ixx="4.53652866123246E-07" ixy="-1.66679020586885e-08" ixz="-1.26712149811549E-08" iyy="5.30500427518365E-07" iyz="-4.56960905410225e-10" izz="2.56538210441828E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 -0.029679 0.075158" rpy="-0.05326726498196427 0 -0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="index_metacarpals" />
|
||||
<axis xyz="-1 0 -0" />
|
||||
<limit lower="-0.3970" upper="-0.0532672649819852" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="index_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.0043709621275504 -2.16385333159826e-05 0.0216063163265681" rpy="-0 0 -0" />
|
||||
<mass value="0.00727256326100808" />
|
||||
<inertia ixx="6.59424988535241E-07" ixy="-1.15369816881374e-10" ixz="-2.43455022025729E-08" iyy="7.06690330759988E-07" iyz="1.75709839767273e-10" izz="3.18019337389962E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="-0 1.221245327087672e-14 -0" />
|
||||
<parent link="index_metacarpals" />
|
||||
<child link="index_proximal" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.735046222075943" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="index_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00412829489374895 -4.33935129848899e-05 0.0217078554898162" rpy="-0 0 -0" />
|
||||
<mass value="0.00678023137976301" />
|
||||
<inertia ixx="6.77930682969668E-07" ixy="-1.0022443161073e-10" ixz="-7.34914379088131E-09" iyy="7.24200285246171E-07" iyz="-6.8455968172179e-11" izz="2.95854297824364E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_middle.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_middle.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_pip" type="revolute">
|
||||
<origin xyz="0 -0 0.039681" rpy="-0 -3.019806626980426e-14 -0" />
|
||||
<parent link="index_proximal" />
|
||||
<child link="index_middle" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.471362682698838" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="index_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405260592933677 -2.92010642392003e-05 0.0113571507781909" rpy="-0 0 -0" />
|
||||
<mass value="0.0033098791304967" />
|
||||
<inertia ixx="1.64002168413707E-07" ixy="3.45038659319342e-12" ixz="-9.24432368435003E-09" iyy="1.74779055176355E-07" iyz="-3.79661625368079e-12" izz="1.1460476210935E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_dip" type="revolute">
|
||||
<origin xyz="0 -0 0.040244" rpy="-0 0.0402952773826 -0" />
|
||||
<parent link="index_middle" />
|
||||
<child link="index_distal" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.59669999534" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="middle_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258093801 5.13953895135309e-05 -0.00136151819462214" rpy="-0 0 -0" />
|
||||
<mass value="0.00661261244742176" />
|
||||
<inertia ixx="4.53652866122421E-07" ixy="-1.6667902059155e-08" ixz="-1.26712149847738E-08" iyy="5.30500427517202E-07" iyz="-4.5696090563867e-10" izz="2.56538210441734E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 -0.0086937 0.08158600000000001" rpy="-0.0128260248695901 0 -0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="middle_metacarpals" />
|
||||
<axis xyz="-1 0 -0" />
|
||||
<limit lower="-0.4265" upper="0.1089663129860673" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="middle_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096211453991 -2.16385377681651e-05 0.021606316263903" rpy="-0 0 -0" />
|
||||
<mass value="0.00727256322379252" />
|
||||
<inertia ixx="6.59424984533755E-07" ixy="-1.15369786907248e-10" ixz="-2.43455017911397E-08" iyy="7.06690325324724E-07" iyz="1.75709424177874e-10" izz="3.18019338775399E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="-0 -0.01523079055311838 -0" />
|
||||
<parent link="middle_metacarpals" />
|
||||
<child link="middle_proximal" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.586027117348012" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="middle_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00416491190892752 -4.53802720945468e-05 0.0183968023027694" rpy="-0 0 -0" />
|
||||
<mass value="0.00558395826725584" />
|
||||
<inertia ixx="6.23566979572116E-07" ixy="-1.48661311147268e-12" ixz="9.71608105955063E-09" iyy="6.62874748143871E-07" iyz="1.95417713888735e-11" izz="2.52254263414512E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_middle.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_middle.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_pip" type="revolute">
|
||||
<origin xyz="0 -0 0.039681" rpy="-0 0.0138711925804 -0" />
|
||||
<parent link="middle_proximal" />
|
||||
<child link="middle_middle" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.590822001021158" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="middle_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.0040526080066767 -2.92015397774141e-05 0.0113571741521581" rpy="-0 0 -0" />
|
||||
<mass value="0.00330988759550385" />
|
||||
<inertia ixx="1.64003148791956E-07" ixy="3.39806839680505e-12" ixz="-9.24426389673421E-09" iyy="1.74779889123667E-07" iyz="-3.85472238306036e-12" izz="1.1460470796913E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_dip" type="revolute">
|
||||
<origin xyz="0 -0 0.040244" rpy="-0 -0.0308518454734 -0" />
|
||||
<parent link="middle_middle" />
|
||||
<child link="middle_distal" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.59776752134" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="ring_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258039409 5.13953875669396e-05 -0.00136151819474453" rpy="-0 0 -0" />
|
||||
<mass value="0.00661261244414956" />
|
||||
<inertia ixx="4.53652866086209E-07" ixy="-1.66679020186835e-08" ixz="-1.26712150849033E-08" iyy="5.30500427139748E-07" iyz="-4.56960893200256e-10" izz="2.56538210088551E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 0.012188 0.079218" rpy="-0.005763480038315312 0 -0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="ring_metacarpals" />
|
||||
<axis xyz="-1 0 -0" />
|
||||
<limit lower="-0.2288" upper="0.2882392053656797" effort="0.0" velocity="0.0" />
|
||||
</joint>
|
||||
<link name="ring_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096212848108 -2.16385332126728e-05 0.0216063163327438" rpy="-0 0 -0" />
|
||||
<mass value="0.00727256326396366" />
|
||||
<inertia ixx="6.5942498771819E-07" ixy="-1.15369820837761e-10" ixz="-2.43455022245408E-08" iyy="7.06690331454756E-07" iyz="1.75709860575411e-10" izz="3.18019335895501E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="-0 0.0255589602002 -0" />
|
||||
<parent link="ring_metacarpals" />
|
||||
<child link="ring_proximal" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.55394971023" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="ring_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00416491192838481 -4.53802663086568e-05 0.0183968024169422" rpy="-0 0 -0" />
|
||||
<mass value="0.00558395830757745" />
|
||||
<inertia ixx="6.23566985916703E-07" ixy="-1.48664397100439e-12" ixz="9.71608067536211E-09" iyy="6.62874753776221E-07" iyz="1.95421758625405e-11" izz="2.52254264189611E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_middle.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_middle.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_pip" type="revolute">
|
||||
<origin xyz="0 -0 0.039681" rpy="-0 0.0220509528547 -0" />
|
||||
<parent link="ring_proximal" />
|
||||
<child link="ring_middle" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.58679961547" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="ring_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405260742568393 -2.91984265882485e-05 0.0113571618103905" rpy="-0 0 -0" />
|
||||
<mass value="0.00330988375961977" />
|
||||
<inertia ixx="1.64002482967217E-07" ixy="3.51093191735502e-12" ixz="-9.24429621268036E-09" iyy="1.74779331899762E-07" iyz="-3.79763524146384e-12" izz="1.14604618112137E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_dip" type="revolute">
|
||||
<origin xyz="0 -0 0.040244" rpy="-0 -0.00428430308889 -0" />
|
||||
<parent link="ring_middle" />
|
||||
<child link="ring_distal" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.5742161012" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="pinky_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258039376 5.13953875944106e-05 -0.00136151819476814" rpy="-0 0 -0" />
|
||||
<mass value="0.00661261244414956" />
|
||||
<inertia ixx="4.53652866086213E-07" ixy="-1.66679020188784e-08" ixz="-1.26712150853475E-08" iyy="5.30500427140437E-07" iyz="-4.56960893204398e-10" izz="2.56538210089087E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 0.030927 0.067761" rpy="-0.01471703057163711 0 -0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="pinky_metacarpals" />
|
||||
<axis xyz="-1 0 -0" />
|
||||
<limit lower="-0.0548" upper="0.3102413287225498" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="pinky_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096211497169 -2.16385374772129e-05 0.0216063162659534" rpy="-0 0 -0" />
|
||||
<mass value="0.00727256322451616" />
|
||||
<inertia ixx="6.59424984467403E-07" ixy="-1.15369789522493e-10" ixz="-2.43455018407703E-08" iyy="7.06690325599736E-07" iyz="1.75709453609034e-10" izz="3.1801933843565E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="-0 -0.0220425694976 -0" />
|
||||
<parent link="pinky_metacarpals" />
|
||||
<child link="pinky_proximal" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.746158486401212" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="pinky_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00412829488912096 -4.33935004629793e-05 0.0217078554135159" rpy="-0 0 -0" />
|
||||
<mass value="0.00678023141445045" />
|
||||
<inertia ixx="6.77930689052883E-07" ixy="-1.00224317995394e-10" ixz="-7.34914443754626E-09" iyy="7.24200290521759E-07" iyz="-6.84568635307055e-11" izz="2.9585429874662E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_middle.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_middle.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_pip" type="revolute">
|
||||
<origin xyz="0 -0 0.039681" rpy="-0 0.0153062751135 -0" />
|
||||
<parent link="pinky_proximal" />
|
||||
<child link="pinky_middle" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.57669319439" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="pinky_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405259886775996 -2.91983586506936e-05 0.0113571520424041" rpy="-0 0 -0" />
|
||||
<mass value="0.00330987874289192" />
|
||||
<inertia ixx="1.64002282686245E-07" ixy="3.40616709379705e-12" ixz="-9.24408880780151E-09" iyy="1.74779075536322E-07" iyz="-3.76063308216828e-12" izz="1.14604555086707E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0 0" rpy="-0 0 -0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_dip" type="revolute">
|
||||
<origin xyz="0 -0 0.040244" rpy="-0 -0.0155350252509 -0" />
|
||||
<parent link="pinky_middle" />
|
||||
<child link="pinky_distal" />
|
||||
<axis xyz="-0 1 -0" />
|
||||
<limit lower="0.0" upper="1.58606542135" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
</robot>
|
||||
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@@ -0,0 +1,605 @@
|
||||
<?xml version='1.0' encoding='utf-8'?>
|
||||
<robot name="linkerhand_O30i_right.urdf">
|
||||
<link name="hand_base_link">
|
||||
<inertial>
|
||||
<origin xyz="0.043952 0.014169 0.022868" rpy="0 0 0" />
|
||||
<mass value="0.046494" />
|
||||
<inertia ixx="2.6054E-05" ixy="-4.7068E-07" ixz="2.1277E-06" iyy="5.2487E-05" iyz="2.7986E-06" izz="3.1143E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/hand_base_link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/hand_base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="thumb_metacarpals_base1">
|
||||
<inertial>
|
||||
<origin xyz="-0.010316 0.0066586 -0.0024476" rpy="0 0 0" />
|
||||
<mass value="0.0024826" />
|
||||
<inertia ixx="1.6045E-07" ixy="-2.6684E-08" ixz="-1.7024E-08" iyy="1.7121E-07" iyz="-2.6748E-08" izz="2.3246E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base1.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base1.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_cmc_roll" type="revolute">
|
||||
<origin xyz="0.018257 0.012998 0.024272" rpy="-0.076806140076 0 0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="thumb_metacarpals_base1" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="0" upper="0.87226588169" effort="1" velocity="1" />
|
||||
</joint>
|
||||
<link name="thumb_metacarpals_base2">
|
||||
<inertial>
|
||||
<origin xyz="0.00038148 0.0076809 0.0021853" rpy="0 0 0" />
|
||||
<mass value="0.0011821" />
|
||||
<inertia ixx="3.9644E-08" ixy="2.1365E-10" ixz="7.766E-11" iyy="1.569E-08" iyz="-7.7096E-09" izz="3.6362E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base2.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_metacarpals_base2.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_cmc_yaw" type="revolute">
|
||||
<origin xyz="-0.00215 0.015238 0" rpy="0 0 -0.0283606787672" />
|
||||
<parent link="thumb_metacarpals_base1" />
|
||||
<child link="thumb_metacarpals_base2" />
|
||||
<axis xyz="0 0 -1" />
|
||||
<limit lower="0" upper="2.02824782456" effort="1" velocity="1" />
|
||||
</joint>
|
||||
<link name="thumb_proximal">
|
||||
<inertial>
|
||||
<origin xyz="3.6654E-06 0.023946 -0.0037436" rpy="0 0 0" />
|
||||
<mass value="0.0073969" />
|
||||
<inertia ixx="1.1793E-06" ixy="1.3736E-10" ixz="-9.6655E-11" iyy="6.5357E-07" iyz="-5.8031E-08" izz="1.0764E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_mcp" type="revolute">
|
||||
<origin xyz="0.00045 0.015539 0.0029937" rpy="-0.384266722602 0 0" />
|
||||
<parent link="thumb_metacarpals_base2" />
|
||||
<child link="thumb_proximal" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="0" upper="1.9412774217" effort="1" velocity="1" />
|
||||
</joint>
|
||||
<link name="thumb_distal">
|
||||
<inertial>
|
||||
<origin xyz="2.0498E-05 0.02017 -0.00424" rpy="0 0 0" />
|
||||
<mass value="0.0079712" />
|
||||
<inertia ixx="8.2871E-07" ixy="-4.2596E-11" ixz="-2.569E-11" iyy="3.2681E-07" iyz="2.6339E-08" izz="8.3897E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/thumb_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="thumb_ip" type="revolute">
|
||||
<origin xyz="0 0.048532 0.00155" rpy="-0.0327366295854 0 0" />
|
||||
<parent link="thumb_proximal" />
|
||||
<child link="thumb_distal" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="0" upper="1.603532956380333" effort="1" velocity="1" />
|
||||
</joint>
|
||||
<link name="index_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258094052 -5.13953894481882E-05 -0.00136151819442749" rpy="0 0 0" />
|
||||
<mass value="0.00661261244742178" />
|
||||
<inertia ixx="4.53652866123246E-07" ixy="1.66679020586885E-08" ixz="-1.26712149811549E-08" iyy="5.30500427518365E-07" iyz="4.56960905410225E-10" izz="2.56538210441828E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 0.029679 0.075158" rpy="0.05326726498196427 0 0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="index_metacarpals" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-0.3970" upper="-0.0532672649819852" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="index_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.0043709621275504 2.16385333159826E-05 0.0216063163265681" rpy="0 0 0" />
|
||||
<mass value="0.00727256326100808" />
|
||||
<inertia ixx="6.59424988535241E-07" ixy="1.15369816881374E-10" ixz="-2.43455022025729E-08" iyy="7.06690330759988E-07" iyz="-1.75709839767273E-10" izz="3.18019337389962E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 0.00059587 0.016238" rpy="0 1.221245327087672e-14 0" />
|
||||
<parent link="index_metacarpals" />
|
||||
<child link="index_proximal" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.735046222075943" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="index_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00412829489374895 4.33935129848899E-05 0.0217078554898162" rpy="0 0 0" />
|
||||
<mass value="0.00678023137976301" />
|
||||
<inertia ixx="6.77930682969668E-07" ixy="1.0022443161073E-10" ixz="-7.34914379088131E-09" iyy="7.24200285246171E-07" iyz="6.8455968172179E-11" izz="2.95854297824364E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_middle.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_middle.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_pip" type="revolute">
|
||||
<origin xyz="0 0 0.039681" rpy="0 -3.019806626980426e-14 0" />
|
||||
<parent link="index_proximal" />
|
||||
<child link="index_middle" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.471362682698838" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="index_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405260592933677 2.92010642392003E-05 0.0113571507781909" rpy="0 0 0" />
|
||||
<mass value="0.0033098791304967" />
|
||||
<inertia ixx="1.64002168413707E-07" ixy="-3.45038659319342E-12" ixz="-9.24432368435003E-09" iyy="1.74779055176355E-07" iyz="3.79661625368079E-12" izz="1.1460476210935E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_dip" type="revolute">
|
||||
<origin xyz="0 0 0.040244" rpy="0 0.0402952773826 0" />
|
||||
<parent link="index_middle" />
|
||||
<child link="index_distal" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.59669999534" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="middle_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258093801 -5.13953895135309E-05 -0.00136151819462214" rpy="0 0 0" />
|
||||
<mass value="0.00661261244742176" />
|
||||
<inertia ixx="4.53652866122421E-07" ixy="1.6667902059155E-08" ixz="-1.26712149847738E-08" iyy="5.30500427517202E-07" iyz="4.5696090563867E-10" izz="2.56538210441734E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 0.0086937 0.081586" rpy="0.0128260248695901 0 0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="middle_metacarpals" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-0.4265" upper="0.1089663129860673" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="middle_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096211453991 2.16385377681651E-05 0.021606316263903" rpy="0 0 0" />
|
||||
<mass value="0.00727256322379252" />
|
||||
<inertia ixx="6.59424984533755E-07" ixy="1.15369786907248E-10" ixz="-2.43455017911397E-08" iyy="7.06690325324724E-07" iyz="-1.75709424177874E-10" izz="3.18019338775399E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 0.00059587 0.016238" rpy="0 -0.01523079055311838 0" />
|
||||
<parent link="middle_metacarpals" />
|
||||
<child link="middle_proximal" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.586027117348012" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="middle_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00416491190892752 4.53802720945468E-05 0.0183968023027694" rpy="0 0 0" />
|
||||
<mass value="0.00558395826725584" />
|
||||
<inertia ixx="6.23566979572116E-07" ixy="1.48661311147268E-12" ixz="9.71608105955063E-09" iyy="6.62874748143871E-07" iyz="-1.95417713888735E-11" izz="2.52254263414512E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_middle.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_middle.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_pip" type="revolute">
|
||||
<origin xyz="0 0 0.039681" rpy="0 0.0138711925804 0" />
|
||||
<parent link="middle_proximal" />
|
||||
<child link="middle_middle" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.590822001021158" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="middle_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.0040526080066767 2.92015397774141E-05 0.0113571741521581" rpy="0 0 0" />
|
||||
<mass value="0.00330988759550385" />
|
||||
<inertia ixx="1.64003148791956E-07" ixy="-3.39806839680505E-12" ixz="-9.24426389673421E-09" iyy="1.74779889123667E-07" iyz="3.85472238306036E-12" izz="1.1460470796913E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_dip" type="revolute">
|
||||
<origin xyz="0 0 0.040244" rpy="0 -0.0308518454734 0" />
|
||||
<parent link="middle_middle" />
|
||||
<child link="middle_distal" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.59776752134" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="ring_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258039409 -5.13953875669396E-05 -0.00136151819474453" rpy="0 0 0" />
|
||||
<mass value="0.00661261244414956" />
|
||||
<inertia ixx="4.53652866086209E-07" ixy="1.66679020186835E-08" ixz="-1.26712150849033E-08" iyy="5.30500427139748E-07" iyz="4.56960893200256E-10" izz="2.56538210088551E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 -0.012188 0.079218" rpy="0.005763480038315312 0 0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="ring_metacarpals" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-0.2288" upper="0.2882392053656797" effort="0.0" velocity="0.0" />
|
||||
</joint>
|
||||
<link name="ring_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096212848108 2.16385332126728E-05 0.0216063163327438" rpy="0 0 0" />
|
||||
<mass value="0.00727256326396366" />
|
||||
<inertia ixx="6.5942498771819E-07" ixy="1.15369820837761E-10" ixz="-2.43455022245408E-08" iyy="7.06690331454756E-07" iyz="-1.75709860575411E-10" izz="3.18019335895501E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 0.00059587 0.016238" rpy="0 0.0255589602002 0" />
|
||||
<parent link="ring_metacarpals" />
|
||||
<child link="ring_proximal" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.55394971023" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="ring_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00416491192838481 4.53802663086568E-05 0.0183968024169422" rpy="0 0 0" />
|
||||
<mass value="0.00558395830757745" />
|
||||
<inertia ixx="6.23566985916703E-07" ixy="1.48664397100439E-12" ixz="9.71608067536211E-09" iyy="6.62874753776221E-07" iyz="-1.95421758625405E-11" izz="2.52254264189611E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_middle.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_middle.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_pip" type="revolute">
|
||||
<origin xyz="0 0 0.039681" rpy="0 0.0220509528547 0" />
|
||||
<parent link="ring_proximal" />
|
||||
<child link="ring_middle" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.58679961547" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="ring_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405260742568393 2.91984265882485E-05 0.0113571618103905" rpy="0 0 0" />
|
||||
<mass value="0.00330988375961977" />
|
||||
<inertia ixx="1.64002482967217E-07" ixy="-3.51093191735502E-12" ixz="-9.24429621268036E-09" iyy="1.74779331899762E-07" iyz="3.79763524146384E-12" izz="1.14604618112137E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_dip" type="revolute">
|
||||
<origin xyz="0 0 0.040244" rpy="0 -0.00428430308889 0" />
|
||||
<parent link="ring_middle" />
|
||||
<child link="ring_distal" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.5742161012" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="pinky_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258039376 -5.13953875944106E-05 -0.00136151819476814" rpy="0 0 0" />
|
||||
<mass value="0.00661261244414956" />
|
||||
<inertia ixx="4.53652866086213E-07" ixy="1.66679020188784E-08" ixz="-1.26712150853475E-08" iyy="5.30500427140437E-07" iyz="4.56960893204398E-10" izz="2.56538210089087E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_metacarpals.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_metacarpals.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 -0.030927 0.067761" rpy="0.01471703057163711 0 0" />
|
||||
<parent link="hand_base_link" />
|
||||
<child link="pinky_metacarpals" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-0.0548" upper="0.3102413287225498" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="pinky_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096211497169 2.16385374772129E-05 0.0216063162659534" rpy="0 0 0" />
|
||||
<mass value="0.00727256322451616" />
|
||||
<inertia ixx="6.59424984467403E-07" ixy="1.15369789522493E-10" ixz="-2.43455018407703E-08" iyy="7.06690325599736E-07" iyz="-1.75709453609034E-10" izz="3.1801933843565E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_proximal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 0.00059587 0.016238" rpy="0 -0.0220425694976 0" />
|
||||
<parent link="pinky_metacarpals" />
|
||||
<child link="pinky_proximal" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.746158486401212" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="pinky_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00412829488912096 4.33935004629793E-05 0.0217078554135159" rpy="0 0 0" />
|
||||
<mass value="0.00678023141445045" />
|
||||
<inertia ixx="6.77930689052883E-07" ixy="1.00224317995394E-10" ixz="-7.34914443754626E-09" iyy="7.24200290521759E-07" iyz="6.84568635307055E-11" izz="2.9585429874662E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_middle.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.68 0.70 0.72 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_middle.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_pip" type="revolute">
|
||||
<origin xyz="0 0 0.039681" rpy="0 0.0153062751135 0" />
|
||||
<parent link="pinky_proximal" />
|
||||
<child link="pinky_middle" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.57669319439" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
<link name="pinky_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405259886775996 2.91983586506936E-05 0.0113571520424041" rpy="0 0 0" />
|
||||
<mass value="0.00330987874289192" />
|
||||
<inertia ixx="1.64002282686245E-07" ixy="-3.40616709379705E-12" ixz="-9.24408880780151E-09" iyy="1.74779075536322E-07" iyz="3.76063308216828E-12" izz="1.14604555086707E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.48 0.50 0.52 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_distal.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_dip" type="revolute">
|
||||
<origin xyz="0 0 0.040244" rpy="0 -0.0155350252509 0" />
|
||||
<parent link="pinky_middle" />
|
||||
<child link="pinky_distal" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="0.0" upper="1.58606542135" effort="1.0" velocity="1.0" />
|
||||
</joint>
|
||||
</robot>
|
||||
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@@ -0,0 +1,20 @@
|
||||
0: thumb_cmc_roll
|
||||
1: thumb_cmc_yaw
|
||||
2: index_mcp_roll
|
||||
3: middle_mcp_roll
|
||||
4: ring_mcp_roll
|
||||
5: pinky_mcp_roll
|
||||
6: thumb_mcp
|
||||
7: index_mcp_pitch
|
||||
8: middle_mcp_pitch
|
||||
9: ring_mcp_pitch
|
||||
10: pinky_mcp_pitch
|
||||
11: index_pip
|
||||
12: middle_pip
|
||||
13: ring_pip
|
||||
14: pinky_pip
|
||||
15: thumb_ip
|
||||
16: index_dip
|
||||
17: middle_dip
|
||||
18: ring_dip
|
||||
19: pinky_dip
|
||||
@@ -0,0 +1,33 @@
|
||||
{
|
||||
"commands": 37,
|
||||
"max_mirror_position_error_m": 0.0,
|
||||
"max_mirror_rotation_error": 0.0,
|
||||
"max_runtime_pose_error": 1.833602714107485e-14,
|
||||
"contacts": [
|
||||
{
|
||||
"finger": "index",
|
||||
"right_gap_mm": -0.000126303898665965,
|
||||
"left_gap_mm": -0.00012630389866754953,
|
||||
"runtime_left_gap_mm": -0.00012630389910024724
|
||||
},
|
||||
{
|
||||
"finger": "middle",
|
||||
"right_gap_mm": 0.020000402670061167,
|
||||
"left_gap_mm": 0.020000402670061167,
|
||||
"runtime_left_gap_mm": 0.020000402670048555
|
||||
},
|
||||
{
|
||||
"finger": "ring",
|
||||
"right_gap_mm": 0.0,
|
||||
"left_gap_mm": 0.0,
|
||||
"runtime_left_gap_mm": 0.0
|
||||
},
|
||||
{
|
||||
"finger": "pinky",
|
||||
"right_gap_mm": 0.020000643267029144,
|
||||
"left_gap_mm": 0.020000643267029144,
|
||||
"runtime_left_gap_mm": 0.020000643267029144
|
||||
}
|
||||
],
|
||||
"mirrored_inertia": true
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
{
|
||||
"asset_version": "V10",
|
||||
"source": "src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/O30/linker_hand_o30_right/linkerhand_o30_right_zero_v10_calibrated.urdf",
|
||||
"source_sha256": "f233c5eff38ba46d1a2826c2624fc8a13e86ed0c74c6b914bf0fcc021b43e439",
|
||||
"note": "Both URDF filenames and directory explicitly labeled V10; copied without changing asset contents.",
|
||||
"copied_from": "exports/O30_V9_left_right"
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
// settings.json
|
||||
{
|
||||
// other settings
|
||||
"urdf-visualizer.packages": {
|
||||
"linkerhand_o12_t3_left": "src/linkerhand_o12_t3_left"
|
||||
},
|
||||
// other settings
|
||||
}
|
||||
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Reference in New Issue
Block a user