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Organize hand models and launchers; use linear active joint mapping

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sunxianghui
2026-09-28 11:05:30 +08:00
parent 325dff6870
commit 01c9aa5c7a
712 changed files with 205077 additions and 6209 deletions
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hands/L6/reference/left_calibrated.urdf
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<?xml version="1.0" encoding="utf-8"?>
<robot
name="linkerhand_l6v3.1_left">
<!-- 手掌基座，作为整只手的根链接 -->
<link
name="lh_hand_base_link">
<inertial>
<origin
xyz="0.00199 -0.00091 0.058381"
rpy="0 0 0" />
<mass
value="0.4185" />
<inertia
ixx="0.0004998"
ixy="0.000012853"
ixz="-0.000008317"
iyy="0.0003567"
iyz="0.000010354"
izz="0.0002301" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_thumb_metacarpals_base1">
<inertial>
<origin
xyz="0.0018663 -0.0066406 0.001533"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="3.3724E-07"
ixy="1.11E-07"
ixz="-3.6039E-08"
iyy="2.9457E-07"
iyz="5.7181E-08"
izz="4.903E-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="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_thumb_cmc_roll"
type="revolute">
<origin
xyz="0.0078133 -0.029898 0.026692"
rpy="-0.0349060486431202 -0.000257767554592503 -0.00738147635662772" />
<parent
link="lh_hand_base_link" />
<child
link="lh_thumb_metacarpals_base1" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="1.12177324"
effort="0.588"
velocity="5.95" />
<dynamics damping="0.02" friction="0.05416667"/>
</joint>
<link
name="lh_thumb_metacarpals">
<inertial>
<origin
xyz="0.00769270907060086 0.0859662184722988 0.0235283086675235"
rpy="0 0 0" />
<mass
value="0.065" />
<inertia
ixx="8.407E-06"
ixy="-1.1338E-09"
ixz="1.1136E-08"
iyy="8.3899E-06"
iyz="3.1171E-07"
izz="2.0091E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_thumb_cmc_pitch"
type="revolute">
<origin
xyz="0.0057298 -0.01332 0.0027456"
rpy="1.01778644 0 0.40143" />
<parent
link="lh_thumb_metacarpals_base1" />
<child
link="lh_thumb_metacarpals" />
<axis
xyz="-1 0 0" />
<limit
lower="0"
upper="0.65673088"
effort="1.008"
velocity="3.47" />
<dynamics damping="0.02" friction="0.0375"/>
</joint>
<link
name="lh_thumb_distal">
<inertial>
<origin
xyz="0.00769270907081708 0.0798662184721594 -0.0591716913325555"
rpy="0 0 0" />
<mass
value="0.018" />
<inertia
ixx="1.5546E-06"
ixy="2.4423E-09"
ixz="2.8147E-09"
iyy="1.7108E-06"
iyz="-7.2756E-08"
izz="9.1709E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_thumb_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_thumb_tip_fixed"
type="fixed">
<origin
xyz="0 0.0035 0.026"
rpy="0 0 1.5708" />
<parent
link="lh_thumb_distal" />
<child
link="lh_thumb_tip" />
</joint>
<joint
name="lh_thumb_dip"
type="revolute">
<origin
xyz="0 0.0061 0.0827"
rpy="0 0 0" />
<parent
link="lh_thumb_metacarpals" />
<child
link="lh_thumb_distal" />
<axis
xyz="-1 0 0" />
<limit
lower="0"
upper="0.963287"
effort="0"
velocity="1.7" />
<mimic
joint="lh_thumb_cmc_pitch"
multiplier="0.88524192477979"
offset="0" />
</joint>
<link
name="lh_index_proximal">
<inertial>
<origin
xyz="0.001776 -0.00011 0.012556"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="0.000000797543"
ixy="-0.000000001275"
ixz="0.000000138601"
iyy="0.000000800499"
iyz="0.000000000939"
izz="0.000000357001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_index_mcp_pitch"
type="revolute">
<origin
xyz="-0.00066821 -0.028967 0.11722"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_index_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.23208487"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.04"/>
</joint>
<link
name="lh_index_distal">
<inertial>
<origin
xyz="0.0134 0.002262 0.016992"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="0.000002488712"
ixy="0.000000008249"
ixz="-0.000001523059"
iyy="0.000003723754"
iyz="0.000000014019"
izz="0.000001813582" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_index_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_index_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="lh_index_distal" />
<child
link="lh_index_tip" />
</joint>
<joint
name="lh_index_dip"
type="revolute">
<origin
xyz="0.00093749 0 0.028002"
rpy="0 0 0" />
<parent
link="lh_index_proximal" />
<child
link="lh_index_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="lh_index_mcp_pitch"
multiplier="0.923280528556446"
offset="0" />
</joint>
<link
name="lh_middle_proximal">
<inertial>
<origin
xyz="0.001776 -0.00011 0.012556"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="0.000000797543"
ixy="-0.000000001275"
ixz="0.000000138601"
iyy="0.000000800499"
iyz="0.000000000939"
izz="0.000000357001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_middle_mcp_pitch"
type="revolute">
<origin
xyz="-0.00066821 -0.0089013 0.12322"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_middle_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.23208487"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.02708333"/>
</joint>
<link
name="lh_middle_distal">
<inertial>
<origin
xyz="0.0134 0.002262 0.016992"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="0.000002488712"
ixy="0.000000008249"
ixz="-0.000001523059"
iyy="0.000003723754"
iyz="0.000000014019"
izz="0.000001813582" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_middle_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_middle_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="lh_middle_distal" />
<child
link="lh_middle_tip" />
</joint>
<joint
name="lh_middle_dip"
type="revolute">
<origin
xyz="0.00093749 0 0.028002"
rpy="0 0 0" />
<parent
link="lh_middle_proximal" />
<child
link="lh_middle_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="lh_middle_mcp_pitch"
multiplier="0.923280528556446"
offset="0" />
</joint>
<link
name="lh_ring_proximal">
<inertial>
<origin
xyz="0.001776 -0.00011 0.012556"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="0.000000797543"
ixy="-0.000000001275"
ixz="0.000000138601"
iyy="0.000000800499"
iyz="0.000000000939"
izz="0.000000357001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_ring_mcp_pitch"
type="revolute">
<origin
xyz="-0.00067368 0.010717 0.11822"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_ring_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.23208487"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.02291667"/>
</joint>
<link
name="lh_ring_distal">
<inertial>
<origin
xyz="0.0134 0.002262 0.016992"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="0.000002488712"
ixy="0.000000008249"
ixz="-0.000001523059"
iyy="0.000003723754"
iyz="0.000000014019"
izz="0.000001813582" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_ring_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_ring_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="lh_ring_distal" />
<child
link="lh_ring_tip" />
</joint>
<joint
name="lh_ring_dip"
type="revolute">
<origin
xyz="0.00093749 0 0.028002"
rpy="0 0 0" />
<parent
link="lh_ring_proximal" />
<child
link="lh_ring_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="lh_ring_mcp_pitch"
multiplier="0.923280528556446"
offset="0" />
</joint>
<link
name="lh_pinky_proximal">
<inertial>
<origin
xyz="0.001776 -0.00011 0.012556"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="0.000000797543"
ixy="-0.000000001275"
ixz="0.000000138601"
iyy="0.000000800499"
iyz="0.000000000939"
izz="0.000000357001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_pinky_mcp_pitch"
type="revolute">
<origin
xyz="-0.00067852 0.029814 0.11424"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_pinky_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.23208487"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.01"/>
</joint>
<link
name="lh_pinky_distal">
<inertial>
<origin
xyz="0.0134 0.002262 0.016992"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="0.000002488712"
ixy="0.000000008249"
ixz="-0.000001523059"
iyy="0.000003723754"
iyz="0.000000014019"
izz="0.000001813582" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_pinky_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_pinky_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="lh_pinky_distal" />
<child
link="lh_pinky_tip" />
</joint>
<joint
name="lh_pinky_dip"
type="revolute">
<origin
xyz="0.00093749 0 0.028002"
rpy="0 0 0" />
<parent
link="lh_pinky_proximal" />
<child
link="lh_pinky_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="lh_pinky_mcp_pitch"
multiplier="0.923280528556446"
offset="0" />
</joint>
<transmission name="trans_thumb_cmc_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_thumb_cmc_roll">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_thumb_cmc_roll">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0084</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_index_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_index_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_index_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_middle_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_middle_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_middle_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_ring_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_ring_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_ring_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_pinky_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_pinky_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_pinky_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_thumb_cmc_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_thumb_cmc_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_thumb_cmc_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0144</mechanicalReduction>
</actuator>
</transmission>
<mujoco>
<compiler meshdir="meshes/" balanceinertia="true" discardvisual="false"/>
<default>
<joint armature="3.4707e-08" damping="5.0" frictionloss="0.5"/>
</default>
<equality>
<!-- 四指DIP关节的mimic约束 - 统一使用1.125676 -->
<!-- polycoef格式: c0 c1 c2 c3 c4 c5，关系: q1 = c0 + c1*q2 + c2*q2^2 + ... -->
<!-- 对于 mimic: q_dip = 0 + 1.125676*q_mcp + 0*q_mcp^2 + ... -->
<joint name="lh_couple_index" joint1="lh_index_dip" joint2="lh_index_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
<joint name="lh_couple_middle" joint1="lh_middle_dip" joint2="lh_middle_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
<joint name="lh_couple_ring" joint1="lh_ring_dip" joint2="lh_ring_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
<joint name="lh_couple_pinky" joint1="lh_pinky_dip" joint2="lh_pinky_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
<!-- 大拇指DIP关节的mimic约束 - 使用1.226495 -->
<joint name="lh_couple_thumb" joint1="lh_thumb_dip" joint2="lh_thumb_cmc_pitch" polycoef="0 0.88524192477979 0 0 0 0"/>
</equality>
</mujoco>
<gazebo reference="lh_hand_base_link">
<mu1>1.5</mu1>
<mu2>1.5</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_thumb_distal">
<mu1>1.5</mu1>
<mu2>1.5</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_index_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_middle_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_ring_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_pinky_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
</robot>
hands/L6/reference/left_uncalibrated.urdf
+956
View File
@@ -0,0 +1,956 @@
<?xml version="1.0" encoding="utf-8"?>
<robot
name="linkerhand_l6v3.1_left">
<!-- 手掌基座，作为整只手的根链接 -->
<link
name="lh_hand_base_link">
<inertial>
<origin
xyz="0.00199 -0.00091 0.058381"
rpy="0 0 0" />
<mass
value="0.4185" />
<inertia
ixx="0.0004998"
ixy="0.000012853"
ixz="-0.000008317"
iyy="0.0003567"
iyz="0.000010354"
izz="0.0002301" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_thumb_metacarpals_base1">
<inertial>
<origin
xyz="0.0018663 -0.0066406 0.001533"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="3.3724E-07"
ixy="1.11E-07"
ixz="-3.6039E-08"
iyy="2.9457E-07"
iyz="5.7181E-08"
izz="4.903E-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="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_thumb_cmc_roll"
type="revolute">
<origin
xyz="0.0078133 -0.029898 0.026692"
rpy="-0.034907 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_thumb_metacarpals_base1" />
<axis
xyz="0 0 1" />
<limit
lower="-0.087266"
upper="1.256637"
effort="0.588"
velocity="5.95" />
<dynamics damping="0.02" friction="0.05416667"/>
</joint>
<link
name="lh_thumb_metacarpals">
<inertial>
<origin
xyz="0.00769270907060086 0.0859662184722988 0.0235283086675235"
rpy="0 0 0" />
<mass
value="0.065" />
<inertia
ixx="8.407E-06"
ixy="-1.1338E-09"
ixz="1.1136E-08"
iyy="8.3899E-06"
iyz="3.1171E-07"
izz="2.0091E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_thumb_cmc_pitch"
type="revolute">
<origin
xyz="0.0057298 -0.01332 0.0027456"
rpy="1.1083 0 0.40143" />
<parent
link="lh_thumb_metacarpals_base1" />
<child
link="lh_thumb_metacarpals" />
<axis
xyz="-1 0 0" />
<limit
lower="0"
upper="0.837758"
effort="1.008"
velocity="3.47" />
<dynamics damping="0.02" friction="0.0375"/>
</joint>
<link
name="lh_thumb_distal">
<inertial>
<origin
xyz="0.00769270907081708 0.0798662184721594 -0.0591716913325555"
rpy="0 0 0" />
<mass
value="0.018" />
<inertia
ixx="1.5546E-06"
ixy="2.4423E-09"
ixz="2.8147E-09"
iyy="1.7108E-06"
iyz="-7.2756E-08"
izz="9.1709E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_thumb_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_thumb_tip_fixed"
type="fixed">
<origin
xyz="0 0.0035 0.026"
rpy="0 0 1.5708" />
<parent
link="lh_thumb_distal" />
<child
link="lh_thumb_tip" />
</joint>
<joint
name="lh_thumb_dip"
type="revolute">
<origin
xyz="0 0.0061 0.0827"
rpy="0 0 0" />
<parent
link="lh_thumb_metacarpals" />
<child
link="lh_thumb_distal" />
<axis
xyz="-1 0 0" />
<limit
lower="0"
upper="0.963287"
effort="0"
velocity="1.7" />
<mimic
joint="lh_thumb_cmc_pitch"
multiplier="1.226495"
offset="0" />
</joint>
<link
name="lh_index_proximal">
<inertial>
<origin
xyz="0.001776 -0.00011 0.012556"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="0.000000797543"
ixy="-0.000000001275"
ixz="0.000000138601"
iyy="0.000000800499"
iyz="0.000000000939"
izz="0.000000357001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_index_mcp_pitch"
type="revolute">
<origin
xyz="-0.00066821 -0.028967 0.11722"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_index_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.134464"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.04"/>
</joint>
<link
name="lh_index_distal">
<inertial>
<origin
xyz="0.0134 0.002262 0.016992"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="0.000002488712"
ixy="0.000000008249"
ixz="-0.000001523059"
iyy="0.000003723754"
iyz="0.000000014019"
izz="0.000001813582" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_index_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_index_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="lh_index_distal" />
<child
link="lh_index_tip" />
</joint>
<joint
name="lh_index_dip"
type="revolute">
<origin
xyz="0.00093749 0 0.028002"
rpy="0 0 0" />
<parent
link="lh_index_proximal" />
<child
link="lh_index_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="lh_index_mcp_pitch"
multiplier="1.125676"
offset="0" />
</joint>
<link
name="lh_middle_proximal">
<inertial>
<origin
xyz="0.001776 -0.00011 0.012556"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="0.000000797543"
ixy="-0.000000001275"
ixz="0.000000138601"
iyy="0.000000800499"
iyz="0.000000000939"
izz="0.000000357001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_middle_mcp_pitch"
type="revolute">
<origin
xyz="-0.00066821 -0.0089013 0.12322"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_middle_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.134464"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.02708333"/>
</joint>
<link
name="lh_middle_distal">
<inertial>
<origin
xyz="0.0134 0.002262 0.016992"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="0.000002488712"
ixy="0.000000008249"
ixz="-0.000001523059"
iyy="0.000003723754"
iyz="0.000000014019"
izz="0.000001813582" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_middle_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_middle_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="lh_middle_distal" />
<child
link="lh_middle_tip" />
</joint>
<joint
name="lh_middle_dip"
type="revolute">
<origin
xyz="0.00093749 0 0.028002"
rpy="0 0 0" />
<parent
link="lh_middle_proximal" />
<child
link="lh_middle_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="lh_middle_mcp_pitch"
multiplier="1.125676"
offset="0" />
</joint>
<link
name="lh_ring_proximal">
<inertial>
<origin
xyz="0.001776 -0.00011 0.012556"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="0.000000797543"
ixy="-0.000000001275"
ixz="0.000000138601"
iyy="0.000000800499"
iyz="0.000000000939"
izz="0.000000357001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_ring_mcp_pitch"
type="revolute">
<origin
xyz="-0.00067368 0.010717 0.11822"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_ring_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.134464"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.02291667"/>
</joint>
<link
name="lh_ring_distal">
<inertial>
<origin
xyz="0.0134 0.002262 0.016992"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="0.000002488712"
ixy="0.000000008249"
ixz="-0.000001523059"
iyy="0.000003723754"
iyz="0.000000014019"
izz="0.000001813582" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_ring_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_ring_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="lh_ring_distal" />
<child
link="lh_ring_tip" />
</joint>
<joint
name="lh_ring_dip"
type="revolute">
<origin
xyz="0.00093749 0 0.028002"
rpy="0 0 0" />
<parent
link="lh_ring_proximal" />
<child
link="lh_ring_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="lh_ring_mcp_pitch"
multiplier="1.125676"
offset="0" />
</joint>
<link
name="lh_pinky_proximal">
<inertial>
<origin
xyz="0.001776 -0.00011 0.012556"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="0.000000797543"
ixy="-0.000000001275"
ixz="0.000000138601"
iyy="0.000000800499"
iyz="0.000000000939"
izz="0.000000357001" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="lh_pinky_mcp_pitch"
type="revolute">
<origin
xyz="-0.00067852 0.029814 0.11424"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_pinky_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.134464"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.01"/>
</joint>
<link
name="lh_pinky_distal">
<inertial>
<origin
xyz="0.0134 0.002262 0.016992"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="0.000002488712"
ixy="0.000000008249"
ixz="-0.000001523059"
iyy="0.000003723754"
iyz="0.000000014019"
izz="0.000001813582" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
</collision>
</link>
<link
name="lh_pinky_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="lh_pinky_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="lh_pinky_distal" />
<child
link="lh_pinky_tip" />
</joint>
<joint
name="lh_pinky_dip"
type="revolute">
<origin
xyz="0.00093749 0 0.028002"
rpy="0 0 0" />
<parent
link="lh_pinky_proximal" />
<child
link="lh_pinky_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="lh_pinky_mcp_pitch"
multiplier="1.125676"
offset="0" />
</joint>
<transmission name="trans_thumb_cmc_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_thumb_cmc_roll">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_thumb_cmc_roll">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0084</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_index_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_index_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_index_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_middle_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_middle_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_middle_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_ring_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_ring_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_ring_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_pinky_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_pinky_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_pinky_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_thumb_cmc_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_thumb_cmc_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_thumb_cmc_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0144</mechanicalReduction>
</actuator>
</transmission>
<mujoco>
<compiler meshdir="meshes/" balanceinertia="true" discardvisual="false"/>
<default>
<joint armature="3.4707e-08" damping="5.0" frictionloss="0.5"/>
</default>
<equality>
<!-- 四指DIP关节的mimic约束 - 统一使用1.125676 -->
<!-- polycoef格式: c0 c1 c2 c3 c4 c5，关系: q1 = c0 + c1*q2 + c2*q2^2 + ... -->
<!-- 对于 mimic: q_dip = 0 + 1.125676*q_mcp + 0*q_mcp^2 + ... -->
<joint name="lh_couple_index" joint1="lh_index_dip" joint2="lh_index_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
<joint name="lh_couple_middle" joint1="lh_middle_dip" joint2="lh_middle_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
<joint name="lh_couple_ring" joint1="lh_ring_dip" joint2="lh_ring_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
<joint name="lh_couple_pinky" joint1="lh_pinky_dip" joint2="lh_pinky_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
<!-- 大拇指DIP关节的mimic约束 - 使用1.226495 -->
<joint name="lh_couple_thumb" joint1="lh_thumb_dip" joint2="lh_thumb_cmc_pitch" polycoef="0 1.226495 0 0 0 0"/>
</equality>
</mujoco>
<gazebo reference="lh_hand_base_link">
<mu1>1.5</mu1>
<mu2>1.5</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_thumb_distal">
<mu1>1.5</mu1>
<mu2>1.5</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_index_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_middle_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_ring_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lh_pinky_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
</robot>
hands/L6/reference/right_calibrated.urdf
+953
View File
@@ -0,0 +1,953 @@
<?xml version="1.0" encoding="utf-8"?>
<robot
name="linkerhand_l6v3.1_right">
<!-- 手掌基座，作为整只手的根链接 -->
<link
name="rh_hand_base_link">
<inertial>
<origin
xyz="0.0019900000 0.0009100000 0.0583810000"
rpy="0 0 0" />
<mass
value="0.4185" />
<inertia
ixx="0.0004998"
ixy="-1.2853e-05"
ixz="-8.317e-06"
iyy="0.0003567"
iyz="-1.0354e-05"
izz="0.0002301" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_thumb_metacarpals_base1">
<inertial>
<origin
xyz="0.0018663000 0.0066406000 0.0015330000"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="3.3724e-07"
ixy="-1.11e-07"
ixz="-3.6039e-08"
iyy="2.9457e-07"
iyz="-5.7181e-08"
izz="4.903e-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="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_thumb_cmc_roll"
type="revolute">
<origin
xyz="0.0078133 0.030812 0.025678"
rpy="-0.0349069999759288 6.51804876738993e-09 0.00738597563689764" />
<parent
link="rh_hand_base_link" />
<child
link="rh_thumb_metacarpals_base1" />
<axis
xyz="0 0.034899 -0.99939" />
<limit
lower="0"
upper="1.12177324"
effort="0.588"
velocity="5.95" />
<dynamics damping="0.02" friction="0.05416667"/>
</joint>
<link
name="rh_thumb_metacarpals">
<inertial>
<origin
xyz="0.0076927091 -0.0859662185 0.0235283087"
rpy="0 0 0" />
<mass
value="0.065" />
<inertia
ixx="8.407e-06"
ixy="1.1338e-09"
ixz="1.1136e-08"
iyy="8.3899e-06"
iyz="-3.1171e-07"
izz="2.0091e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="rh_thumb_cmc_pitch"
type="revolute">
<origin
xyz="0.0054997 0.013314 0.0032166"
rpy="-0.98568644 0.0136370000000001 -0.40121" />
<parent
link="rh_thumb_metacarpals_base1" />
<child
link="rh_thumb_metacarpals" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="0.65673088"
effort="1.008"
velocity="3.47" />
<dynamics damping="0.02" friction="0.0375"/>
</joint>
<link
name="rh_thumb_distal">
<inertial>
<origin
xyz="0.0076927091 -0.0798662185 -0.0591716913"
rpy="0 0 0" />
<mass
value="0.018" />
<inertia
ixx="1.5546e-06"
ixy="-2.4423e-09"
ixz="2.8147e-09"
iyy="1.7108e-06"
iyz="7.2756e-08"
izz="9.1709e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_thumb_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_thumb_tip_fixed"
type="fixed">
<origin
xyz="0 -0.0035 0.026"
rpy="0 0 -1.5708" />
<parent
link="rh_thumb_distal" />
<child
link="rh_thumb_tip" />
</joint>
<joint
name="rh_thumb_dip"
type="revolute">
<origin
xyz="0 -0.0061 0.0827"
rpy="0 0 0" />
<parent
link="rh_thumb_metacarpals" />
<child
link="rh_thumb_distal" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="0.963287"
effort="0"
velocity="1.7" />
<mimic
joint="rh_thumb_cmc_pitch"
multiplier="0.88524192477979"
offset="0" />
</joint>
<link
name="rh_index_proximal">
<inertial>
<origin
xyz="0.0017760000 0.0001100000 0.0125560000"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="7.97543e-07"
ixy="1.275e-09"
ixz="1.38601e-07"
iyy="8.00499e-07"
iyz="-9.39e-10"
izz="3.57001e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_index_mcp_pitch"
type="revolute">
<origin
xyz="-0.00066821 0.033467 0.11622"
rpy="-0.087266 0 0" />
<parent
link="rh_hand_base_link" />
<child
link="rh_index_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.23208487"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.04"/>
</joint>
<link
name="rh_index_distal">
<inertial>
<origin
xyz="0.0134000000 -0.0022620000 0.0169920000"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="2.488712e-06"
ixy="-8.249e-09"
ixz="-1.523059e-06"
iyy="3.723754e-06"
iyz="-1.4019e-08"
izz="1.813582e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_index_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_index_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="rh_index_distal" />
<child
link="rh_index_tip" />
</joint>
<joint
name="rh_index_dip"
type="revolute">
<origin
xyz="0.0009359 0 0.028002"
rpy="0 0 0" />
<parent
link="rh_index_proximal" />
<child
link="rh_index_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="rh_index_mcp_pitch"
multiplier="0.923280528556446"
offset="0" />
</joint>
<link
name="rh_middle_proximal">
<inertial>
<origin
xyz="0.0017760000 0.0001100000 0.0125560000"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="7.97543e-07"
ixy="1.275e-09"
ixz="1.38601e-07"
iyy="8.00499e-07"
iyz="-9.39e-10"
izz="3.57001e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_middle_mcp_pitch"
type="revolute">
<origin
xyz="-0.00066821 0.0134013 0.12272"
rpy="-0.034907 0 0" />
<parent
link="rh_hand_base_link" />
<child
link="rh_middle_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.23208487"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.02708333"/>
</joint>
<link
name="rh_middle_distal">
<inertial>
<origin
xyz="0.0134000000 -0.0022620000 0.0169920000"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="2.488712e-06"
ixy="-8.249e-09"
ixz="-1.523059e-06"
iyy="3.723754e-06"
iyz="-1.4019e-08"
izz="1.813582e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_middle_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_middle_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="rh_middle_distal" />
<child
link="rh_middle_tip" />
</joint>
<joint
name="rh_middle_dip"
type="revolute">
<origin
xyz="0.0009359 0 0.028002"
rpy="0 0 0" />
<parent
link="rh_middle_proximal" />
<child
link="rh_middle_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="rh_middle_mcp_pitch"
multiplier="0.923280528556446"
offset="0" />
</joint>
<link
name="rh_ring_proximal">
<inertial>
<origin
xyz="0.0017760000 0.0001100000 0.0125560000"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="7.97543e-07"
ixy="1.275e-09"
ixz="1.38601e-07"
iyy="8.00499e-07"
iyz="-9.39e-10"
izz="3.57001e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_ring_mcp_pitch"
type="revolute">
<origin
xyz="-0.00067368 -0.006217 0.11872"
rpy="0.017453 0 0" />
<parent
link="rh_hand_base_link" />
<child
link="rh_ring_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.23208487"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.02291667"/>
</joint>
<link
name="rh_ring_distal">
<inertial>
<origin
xyz="0.0134000000 -0.0022620000 0.0169920000"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="2.488712e-06"
ixy="-8.249e-09"
ixz="-1.523059e-06"
iyy="3.723754e-06"
iyz="-1.4019e-08"
izz="1.813582e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_ring_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_ring_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="rh_ring_distal" />
<child
link="rh_ring_tip" />
</joint>
<joint
name="rh_ring_dip"
type="revolute">
<origin
xyz="0.0009359 0 0.028002"
rpy="0 0 0" />
<parent
link="rh_ring_proximal" />
<child
link="rh_ring_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="rh_ring_mcp_pitch"
multiplier="0.923280528556446"
offset="0" />
</joint>
<link
name="rh_pinky_proximal">
<inertial>
<origin
xyz="0.0017760000 0.0001100000 0.0125560000"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="7.97543e-07"
ixy="1.275e-09"
ixz="1.38601e-07"
iyy="8.00499e-07"
iyz="-9.39e-10"
izz="3.57001e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_pinky_mcp_pitch"
type="revolute">
<origin
xyz="-0.00067852 -0.025314 0.11474"
rpy="0.05236 0 0" />
<parent
link="rh_hand_base_link" />
<child
link="rh_pinky_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.23208487"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.01"/>
</joint>
<link
name="rh_pinky_distal">
<inertial>
<origin
xyz="0.0134000000 -0.0022620000 0.0169920000"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="2.488712e-06"
ixy="-8.249e-09"
ixz="-1.523059e-06"
iyy="3.723754e-06"
iyz="-1.4019e-08"
izz="1.813582e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_pinky_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_pinky_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="rh_pinky_distal" />
<child
link="rh_pinky_tip" />
</joint>
<joint
name="rh_pinky_dip"
type="revolute">
<origin
xyz="0.0009359 0 0.028002"
rpy="0 0 0" />
<parent
link="rh_pinky_proximal" />
<child
link="rh_pinky_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="rh_pinky_mcp_pitch"
multiplier="0.923280528556446"
offset="0" />
</joint>
<transmission name="trans_thumb_cmc_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_thumb_cmc_roll">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_thumb_cmc_roll">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0084</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_index_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_index_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_index_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_middle_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_middle_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_middle_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_ring_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_ring_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_ring_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_pinky_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_pinky_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_pinky_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_thumb_cmc_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_thumb_cmc_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_thumb_cmc_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0144</mechanicalReduction>
</actuator>
</transmission>
<mujoco>
<compiler meshdir="meshes/" balanceinertia="true" discardvisual="false"/>
<default>
<joint armature="3.4707e-08" damping="5.0" frictionloss="0.5"/>
</default>
<equality>
<joint name="rh_couple_index" joint1="rh_index_dip" joint2="rh_index_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
<joint name="rh_couple_middle" joint1="rh_middle_dip" joint2="rh_middle_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
<joint name="rh_couple_ring" joint1="rh_ring_dip" joint2="rh_ring_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
<joint name="rh_couple_pinky" joint1="rh_pinky_dip" joint2="rh_pinky_mcp_pitch" polycoef="0 1.17646620703189 -0.184902818001199 0 0 0"/>
<joint name="rh_couple_thumb" joint1="rh_thumb_dip" joint2="rh_thumb_cmc_pitch" polycoef="0 0.88524192477979 0 0 0 0"/>
</equality>
</mujoco>
<gazebo reference="rh_hand_base_link">
<mu1>1.5</mu1>
<mu2>1.5</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_thumb_distal">
<mu1>1.5</mu1>
<mu2>1.5</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_index_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_middle_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_ring_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_pinky_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
</robot>
hands/L6/reference/right_uncalibrated.urdf
+953
View File
@@ -0,0 +1,953 @@
<?xml version="1.0" encoding="utf-8"?>
<robot
name="linkerhand_l6v3.1_right">
<!-- 手掌基座，作为整只手的根链接 -->
<link
name="rh_hand_base_link">
<inertial>
<origin
xyz="0.0019900000 0.0009100000 0.0583810000"
rpy="0 0 0" />
<mass
value="0.4185" />
<inertia
ixx="0.0004998"
ixy="-1.2853e-05"
ixz="-8.317e-06"
iyy="0.0003567"
iyz="-1.0354e-05"
izz="0.0002301" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_thumb_metacarpals_base1">
<inertial>
<origin
xyz="0.0018663000 0.0066406000 0.0015330000"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="3.3724e-07"
ixy="-1.11e-07"
ixz="-3.6039e-08"
iyy="2.9457e-07"
iyz="-5.7181e-08"
izz="4.903e-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="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_thumb_cmc_roll"
type="revolute">
<origin
xyz="0.0078133 0.030812 0.025678"
rpy="-0.034907 0 0" />
<parent
link="rh_hand_base_link" />
<child
link="rh_thumb_metacarpals_base1" />
<axis
xyz="0 0.034899 -0.99939" />
<limit
lower="-0.087266"
upper="1.256637"
effort="0.588"
velocity="5.95" />
<dynamics damping="0.02" friction="0.05416667"/>
</joint>
<link
name="rh_thumb_metacarpals">
<inertial>
<origin
xyz="0.0076927091 -0.0859662185 0.0235283087"
rpy="0 0 0" />
<mass
value="0.065" />
<inertia
ixx="8.407e-06"
ixy="1.1338e-09"
ixz="1.1136e-08"
iyy="8.3899e-06"
iyz="-3.1171e-07"
izz="2.0091e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="rh_thumb_cmc_pitch"
type="revolute">
<origin
xyz="0.0054997 0.013314 0.0032166"
rpy="-1.0762 0.013637 -0.40121" />
<parent
link="rh_thumb_metacarpals_base1" />
<child
link="rh_thumb_metacarpals" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="0.837758"
effort="1.008"
velocity="3.47" />
<dynamics damping="0.02" friction="0.0375"/>
</joint>
<link
name="rh_thumb_distal">
<inertial>
<origin
xyz="0.0076927091 -0.0798662185 -0.0591716913"
rpy="0 0 0" />
<mass
value="0.018" />
<inertia
ixx="1.5546e-06"
ixy="-2.4423e-09"
ixz="2.8147e-09"
iyy="1.7108e-06"
iyz="7.2756e-08"
izz="9.1709e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_thumb_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_thumb_tip_fixed"
type="fixed">
<origin
xyz="0 -0.0035 0.026"
rpy="0 0 -1.5708" />
<parent
link="rh_thumb_distal" />
<child
link="rh_thumb_tip" />
</joint>
<joint
name="rh_thumb_dip"
type="revolute">
<origin
xyz="0 -0.0061 0.0827"
rpy="0 0 0" />
<parent
link="rh_thumb_metacarpals" />
<child
link="rh_thumb_distal" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="0.963287"
effort="0"
velocity="1.7" />
<mimic
joint="rh_thumb_cmc_pitch"
multiplier="1.226495"
offset="0" />
</joint>
<link
name="rh_index_proximal">
<inertial>
<origin
xyz="0.0017760000 0.0001100000 0.0125560000"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="7.97543e-07"
ixy="1.275e-09"
ixz="1.38601e-07"
iyy="8.00499e-07"
iyz="-9.39e-10"
izz="3.57001e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_index_mcp_pitch"
type="revolute">
<origin
xyz="-0.00066821 0.033467 0.11622"
rpy="-0.087266 0 0" />
<parent
link="rh_hand_base_link" />
<child
link="rh_index_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.134464"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.04"/>
</joint>
<link
name="rh_index_distal">
<inertial>
<origin
xyz="0.0134000000 -0.0022620000 0.0169920000"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="2.488712e-06"
ixy="-8.249e-09"
ixz="-1.523059e-06"
iyy="3.723754e-06"
iyz="-1.4019e-08"
izz="1.813582e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_index_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_index_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="rh_index_distal" />
<child
link="rh_index_tip" />
</joint>
<joint
name="rh_index_dip"
type="revolute">
<origin
xyz="0.0009359 0 0.028002"
rpy="0 0 0" />
<parent
link="rh_index_proximal" />
<child
link="rh_index_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="rh_index_mcp_pitch"
multiplier="1.125676"
offset="0" />
</joint>
<link
name="rh_middle_proximal">
<inertial>
<origin
xyz="0.0017760000 0.0001100000 0.0125560000"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="7.97543e-07"
ixy="1.275e-09"
ixz="1.38601e-07"
iyy="8.00499e-07"
iyz="-9.39e-10"
izz="3.57001e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_middle_mcp_pitch"
type="revolute">
<origin
xyz="-0.00066821 0.0134013 0.12272"
rpy="-0.034907 0 0" />
<parent
link="rh_hand_base_link" />
<child
link="rh_middle_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.134464"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.02708333"/>
</joint>
<link
name="rh_middle_distal">
<inertial>
<origin
xyz="0.0134000000 -0.0022620000 0.0169920000"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="2.488712e-06"
ixy="-8.249e-09"
ixz="-1.523059e-06"
iyy="3.723754e-06"
iyz="-1.4019e-08"
izz="1.813582e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_middle_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_middle_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="rh_middle_distal" />
<child
link="rh_middle_tip" />
</joint>
<joint
name="rh_middle_dip"
type="revolute">
<origin
xyz="0.0009359 0 0.028002"
rpy="0 0 0" />
<parent
link="rh_middle_proximal" />
<child
link="rh_middle_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="rh_middle_mcp_pitch"
multiplier="1.125676"
offset="0" />
</joint>
<link
name="rh_ring_proximal">
<inertial>
<origin
xyz="0.0017760000 0.0001100000 0.0125560000"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="7.97543e-07"
ixy="1.275e-09"
ixz="1.38601e-07"
iyy="8.00499e-07"
iyz="-9.39e-10"
izz="3.57001e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_ring_mcp_pitch"
type="revolute">
<origin
xyz="-0.00067368 -0.006217 0.11872"
rpy="0.017453 0 0" />
<parent
link="rh_hand_base_link" />
<child
link="rh_ring_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.134464"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.02291667"/>
</joint>
<link
name="rh_ring_distal">
<inertial>
<origin
xyz="0.0134000000 -0.0022620000 0.0169920000"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="2.488712e-06"
ixy="-8.249e-09"
ixz="-1.523059e-06"
iyy="3.723754e-06"
iyz="-1.4019e-08"
izz="1.813582e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_ring_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_ring_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="rh_ring_distal" />
<child
link="rh_ring_tip" />
</joint>
<joint
name="rh_ring_dip"
type="revolute">
<origin
xyz="0.0009359 0 0.028002"
rpy="0 0 0" />
<parent
link="rh_ring_proximal" />
<child
link="rh_ring_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="rh_ring_mcp_pitch"
multiplier="1.125676"
offset="0" />
</joint>
<link
name="rh_pinky_proximal">
<inertial>
<origin
xyz="0.0017760000 0.0001100000 0.0125560000"
rpy="0 0 0" />
<mass
value="0.008553" />
<inertia
ixx="7.97543e-07"
ixy="1.275e-09"
ixz="1.38601e-07"
iyy="8.00499e-07"
iyz="-9.39e-10"
izz="3.57001e-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_proximal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 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="rh_pinky_mcp_pitch"
type="revolute">
<origin
xyz="-0.00067852 -0.025314 0.11474"
rpy="0.05236 0 0" />
<parent
link="rh_hand_base_link" />
<child
link="rh_pinky_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.134464"
effort="0.574"
velocity="6.10" />
<dynamics damping="0.01" friction="0.01"/>
</joint>
<link
name="rh_pinky_distal">
<inertial>
<origin
xyz="0.0134000000 -0.0022620000 0.0169920000"
rpy="0 0 0" />
<mass
value="0.018408" />
<inertia
ixx="2.488712e-06"
ixy="-8.249e-09"
ixz="-1.523059e-06"
iyy="3.723754e-06"
iyz="-1.4019e-08"
izz="1.813582e-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
<material
name="">
<color
rgba="0.796078431372549 0.823529411764706 0.937254901960784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
</collision>
</link>
<link
name="rh_pinky_tip">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="1e-06" />
<inertia
ixx="1e-09"
ixy="0"
ixz="0"
iyy="1e-09"
iyz="0"
izz="1e-09" />
</inertial>
</link>
<joint
name="rh_pinky_tip_fixed"
type="fixed">
<origin
xyz="0.0341 0 0.034"
rpy="0 0 0" />
<parent
link="rh_pinky_distal" />
<child
link="rh_pinky_tip" />
</joint>
<joint
name="rh_pinky_dip"
type="revolute">
<origin
xyz="0.0009359 0 0.028002"
rpy="0 0 0" />
<parent
link="rh_pinky_proximal" />
<child
link="rh_pinky_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.277039"
effort="0"
velocity="3.1" />
<mimic
joint="rh_pinky_mcp_pitch"
multiplier="1.125676"
offset="0" />
</joint>
<transmission name="trans_thumb_cmc_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_thumb_cmc_roll">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_thumb_cmc_roll">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0084</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_index_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_index_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_index_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_middle_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_middle_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_middle_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_ring_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_ring_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_ring_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_pinky_mcp_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_pinky_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_pinky_mcp_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0082</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_thumb_cmc_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_thumb_cmc_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_thumb_cmc_pitch">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>0.0144</mechanicalReduction>
</actuator>
</transmission>
<mujoco>
<compiler meshdir="meshes/" balanceinertia="true" discardvisual="false"/>
<default>
<joint armature="3.4707e-08" damping="5.0" frictionloss="0.5"/>
</default>
<equality>
<joint name="rh_couple_index" joint1="rh_index_dip" joint2="rh_index_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
<joint name="rh_couple_middle" joint1="rh_middle_dip" joint2="rh_middle_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
<joint name="rh_couple_ring" joint1="rh_ring_dip" joint2="rh_ring_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
<joint name="rh_couple_pinky" joint1="rh_pinky_dip" joint2="rh_pinky_mcp_pitch" polycoef="0 1.125676 0 0 0 0"/>
<joint name="rh_couple_thumb" joint1="rh_thumb_dip" joint2="rh_thumb_cmc_pitch" polycoef="0 1.226495 0 0 0 0"/>
</equality>
</mujoco>
<gazebo reference="rh_hand_base_link">
<mu1>1.5</mu1>
<mu2>1.5</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_thumb_distal">
<mu1>1.5</mu1>
<mu2>1.5</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_index_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_middle_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_ring_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="rh_pinky_distal">
<mu1>1.1</mu1>
<mu2>1.1</mu2>
<selfCollide>true</selfCollide>
</gazebo>
</robot>