Organize hand models and launchers; use linear active joint mapping
This commit is contained in:
+605
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<?xml version="1.0" ?>
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<robot name="linkerhand_O30i_left.urdf" version="1.0">
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<link name="hand_base_link">
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<inertial>
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<origin xyz="-0.00146451938108689 0.00151888155879073 0.0427990524649812" rpy="0.0 0.0 -0.0"/>
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<mass value="0.0570701007302751"/>
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||||
<inertia ixx="6.41476396285827e-05" ixy="4.13588892205773e-07" ixz="2.93582919010314e-06" iyy="3.34589534848391e-05" iyz="2.49418020553825e-06" izz="3.60802311069806e-05"/>
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</inertial>
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<visual>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/hand_base_link.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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<material name="">
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<color rgba="0.0 0.6 0.0 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/hand_base_link.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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</collision>
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</link>
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<link name="thumb_metacarpals_base1">
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<inertial>
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<origin xyz="-0.0105118326494666 -0.000531037250757874 0.000201233410709316" rpy="0.0 0.0 -0.0"/>
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<mass value="0.00628309017011841"/>
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<inertia ixx="4.40315685893602e-07" ixy="-1.47599709046314e-08" ixz="-8.54509113883151e-09" iyy="2.23456411184308e-07" iyz="2.25125857386092e-09" izz="5.23701836165457e-07"/>
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</inertial>
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<visual>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/thumb_metacarpals_base1.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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<material name="">
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<color rgba="0.584313725490196 1.0 0.270588235294118 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/thumb_metacarpals_base1.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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</collision>
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</link>
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<joint name="thumb_cmc_roll" type="revolute">
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<origin xyz="0.018722 -0.016674 0.024272" rpy="0.0 -0.0 -0.0"/>
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<axis xyz="-1.0 0.0 0.0"/>
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<parent link="hand_base_link"/>
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<child link="thumb_metacarpals_base1"/>
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<limit effort="1.0" lower="0.0" upper="0.5731" velocity="1.0"/>
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</joint>
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<link name="thumb_metacarpals_base2">
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<inertial>
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<origin xyz="3.50793983951991e-05 -0.0307325068539125 0.000377698493481092" rpy="0.0 0.0 -0.0"/>
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<mass value="0.0124355946309777"/>
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<inertia ixx="1.85557953127413e-06" ixy="-1.34202004276246e-08" ixz="3.40784805164981e-10" iyy="7.3232007789305e-07" iyz="-1.04440143780077e-07" izz="1.79341397866876e-06"/>
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</inertial>
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<visual>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/thumb_metacarpals_base2.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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<material name="">
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<color rgba="0.6 0.4 0.2 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/thumb_metacarpals_base2.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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</collision>
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</link>
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<joint name="thumb_cmc_yaw" type="revolute">
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<origin xyz="-0.00475 -0.016238 -0.00059587" rpy="-0.0 0.0 0.0"/>
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<axis xyz="0.0 0.0 1.0"/>
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<parent link="thumb_metacarpals_base1"/>
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<child link="thumb_metacarpals_base2"/>
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<limit effort="1.0" lower="0.0" upper="1.9268" velocity="1.0"/>
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</joint>
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<link name="thumb_proximal">
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<inertial>
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<origin xyz="0.000105705672182835 -0.0206142627358541 -0.00506839782178824" rpy="0.0 0.0 -0.0"/>
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<mass value="0.00973720424636687"/>
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<inertia ixx="1.01074814614493e-06" ixy="2.50764613880781e-09" ixz="-1.74226307591624e-10" iyy="5.24186920744717e-07" iyz="1.68407924898363e-08" izz="1.02072874531995e-06"/>
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</inertial>
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<visual>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/thumb_proximal.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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<material name="">
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<color rgba="0.6 0.4 0.2 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/thumb_proximal.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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</collision>
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</link>
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<joint name="thumb_mcp" type="revolute">
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<origin xyz="-5.4077e-05 -0.052039 0.0059395" rpy="0.0 -0.0 -0.0"/>
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<axis xyz="-1.0 0.0 0.0"/>
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<parent link="thumb_metacarpals_base2"/>
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<child link="thumb_proximal"/>
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<limit effort="1.0" lower="0.0" upper="1.5194" velocity="1.0"/>
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</joint>
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<link name="thumb_distal">
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<inertial>
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<origin xyz="-4.60564973558085e-05 -0.0112290094697628 -0.00403269076475772" rpy="0.0 0.0 -0.0"/>
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<mass value="0.0033703198194942"/>
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<inertia ixx="1.76894970099447e-07" ixy="-1.29532349747695e-10" ixz="5.66062141751448e-11" iyy="1.15948905078769e-07" iyz="-1.03138565159848e-08" izz="1.66156539801434e-07"/>
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</inertial>
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<visual>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/thumb_distal.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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<material name="">
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<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/thumb_distal.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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</collision>
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</link>
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<joint name="thumb_ip" type="revolute">
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<origin xyz="4.8488e-05 -0.040032 -0.0005" rpy="0.0 -0.0 -0.0"/>
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<axis xyz="-1.0 0.0 0.0"/>
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<parent link="thumb_proximal"/>
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<child link="thumb_distal"/>
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<limit effort="1.0" lower="0.0" upper="1.5910" velocity="1.0"/>
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</joint>
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<link name="index_metacarpals">
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<inertial>
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<origin xyz="-0.0106040258094052 5.13953894481882e-05 -0.00136151819442749" rpy="0.0 0.0 -0.0"/>
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<mass value="0.00661261244742178"/>
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<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"/>
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</inertial>
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<visual>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/index_metacarpals.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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<material name="">
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<color rgba="0.286274509803922 1.0 0.196078431372549 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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<mesh filename="meshes/index_metacarpals.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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</collision>
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</link>
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<joint name="index_mcp_roll" type="revolute">
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<origin xyz="0.018722 -0.029679 0.075158" rpy="0.0 0.0 -0.0"/>
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<axis xyz="-1.0 0.0 0.0"/>
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<parent link="hand_base_link"/>
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<child link="index_metacarpals"/>
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<limit effort="1.0" lower="-0.3741" upper="0.03711" velocity="1.0"/>
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</joint>
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<link name="index_proximal">
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<inertial>
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<origin xyz="-0.0043709621275504 -2.16385333159826e-05 0.0216063163265681" rpy="0.0 0.0 -0.0"/>
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||||
<mass value="0.00727256326100808"/>
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||||
<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"/>
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||||
</inertial>
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||||
<visual>
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||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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<geometry>
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||||
<mesh filename="meshes/index_proximal.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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||||
<material name="">
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||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
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||||
</material>
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||||
</visual>
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||||
<collision>
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||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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||||
<geometry>
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||||
<mesh filename="meshes/index_proximal.STL" scale="1.0 -1.0 1.0"/>
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</geometry>
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</collision>
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</link>
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<joint name="index_mcp_pitch" type="revolute">
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<origin xyz="-0.00475 -0.00059587 0.016238" rpy="0.0 0.0 -0.0"/>
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<axis xyz="0.0 1.0 0.0"/>
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<parent link="index_metacarpals"/>
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<child link="index_proximal"/>
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<limit effort="1.0" lower="0.0" upper="1.5050" velocity="1.0"/>
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</joint>
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<link name="index_middle">
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||||
<inertial>
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||||
<origin xyz="-0.00412829489374895 -4.33935129848899e-05 0.0217078554898162" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
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||||
<geometry>
|
||||
<mesh filename="meshes/index_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_middle.STL" scale="1.0 -1.0 1.0"/>
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||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_pip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.039681" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="index_proximal"/>
|
||||
<child link="index_middle"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.5765" velocity="1.0"/>
|
||||
</joint>
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||||
<link name="index_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405260592933677 -2.92010642392003e-05 0.0113571507781909" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6 0.4 0.2 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/index_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="index_dip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.040244" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="index_middle"/>
|
||||
<child link="index_distal"/>
|
||||
<limit effort="1.0" lower="0" upper="1.5016" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="middle_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258093801 5.13953895135309e-05 -0.00136151819462214" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.4 0.2 0.8 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 -0.0086937 0.081586" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="-1.0 0.0 0.0"/>
|
||||
<parent link="hand_base_link"/>
|
||||
<child link="middle_metacarpals"/>
|
||||
<limit effort="1.0" lower="-0.4906" upper="0.05418" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="middle_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096211453991 -2.16385377681651e-05 0.021606316263903" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="middle_metacarpals"/>
|
||||
<child link="middle_proximal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.6159" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="middle_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00416491190892752 -4.53802720945468e-05 0.0183968023027694" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_pip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.039681" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="middle_proximal"/>
|
||||
<child link="middle_middle"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.5783" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="middle_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.0040526080066767 -2.92015397774141e-05 0.0113571741521581" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6 0.4 0.2 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/middle_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="middle_dip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.040244" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="middle_middle"/>
|
||||
<child link="middle_distal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.5207" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="ring_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258039409 5.13953875669396e-05 -0.00136151819474453" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.286274509803922 1.0 0.196078431372549 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 0.012188 0.079218" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="-1.0 0.0 0.0"/>
|
||||
<parent link="hand_base_link"/>
|
||||
<child link="ring_metacarpals"/>
|
||||
<limit effort="0.0" lower="-0.1371" upper="0.18823" velocity="0.0"/>
|
||||
</joint>
|
||||
<link name="ring_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096212848108 -2.16385332126728e-05 0.0216063163327438" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="ring_metacarpals"/>
|
||||
<child link="ring_proximal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.6596" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="ring_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00416491192838481 -4.53802663086568e-05 0.0183968024169422" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_pip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.039681" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="ring_proximal"/>
|
||||
<child link="ring_middle"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.5009" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="ring_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405260742568393 -2.91984265882485e-05 0.0113571618103905" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6 0.4 0.2 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ring_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="ring_dip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.040244" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="ring_middle"/>
|
||||
<child link="ring_distal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.4986" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="pinky_metacarpals">
|
||||
<inertial>
|
||||
<origin xyz="-0.0106040258039376 5.13953875944106e-05 -0.00136151819476814" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.4 0.2 0.8 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_metacarpals.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_mcp_roll" type="revolute">
|
||||
<origin xyz="0.018722 0.030927 0.067761" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="-1.0 0.0 0.0"/>
|
||||
<parent link="hand_base_link"/>
|
||||
<child link="pinky_metacarpals"/>
|
||||
<limit effort="1.0" lower="-0.1835" upper="0.2810" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="pinky_proximal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00437096211497169 -2.16385374772129e-05 0.0216063162659534" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_proximal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_mcp_pitch" type="revolute">
|
||||
<origin xyz="-0.00475 -0.00059587 0.016238" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="pinky_metacarpals"/>
|
||||
<child link="pinky_proximal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.6152" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="pinky_middle">
|
||||
<inertial>
|
||||
<origin xyz="-0.00412829488912096 -4.33935004629793e-05 0.0217078554135159" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.6 0.4 0.2 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_middle.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_pip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.039681" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="pinky_proximal"/>
|
||||
<child link="pinky_middle"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.4858" velocity="1.0"/>
|
||||
</joint>
|
||||
<link name="pinky_distal">
|
||||
<inertial>
|
||||
<origin xyz="-0.00405259886775996 -2.91983586506936e-05 0.0113571520424041" rpy="0.0 0.0 -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 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.690196078431373 0.690196078431373 0.690196078431373 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 -0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pinky_distal.STL" scale="1.0 -1.0 1.0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pinky_dip" type="revolute">
|
||||
<origin xyz="0.0 -0.0 0.040244" rpy="0.0 0.0 -0.0"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<parent link="pinky_middle"/>
|
||||
<child link="pinky_distal"/>
|
||||
<limit effort="1.0" lower="0.0" upper="1.5549" velocity="1.0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
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Reference in New Issue
Block a user