Jerry
191 lines
8.6 KiB
XML
191 lines
8.6 KiB
XML
<?xml version="1.0"?>
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<!-- cadpy:sourcePath=lyra.py -->
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<!-- cadpy:sourceHash=a6a104f1320f8319869d1cbfe47898e91f5d3186feedb4af8563b1a584c6f9d6 -->
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<robot xmlns:tcad="https://text-to-cad.dev/srdf" name="lyra">
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<tcad:urdf path="lyra.urdf" />
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<virtual_joint name="world_to_wrist" type="fixed" parent_frame="world" child_link="wrist_mount" />
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<group name="index">
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<joint name="index_mcp" />
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<joint name="index_pip" />
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<joint name="index_dip" />
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</group>
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<group name="middle">
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<joint name="middle_mcp" />
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<joint name="middle_pip" />
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<joint name="middle_dip" />
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</group>
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<group name="ring">
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<joint name="ring_mcp" />
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<joint name="ring_pip" />
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<joint name="ring_dip" />
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</group>
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<group name="pinky">
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<joint name="pinky_mcp" />
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<joint name="pinky_pip" />
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<joint name="pinky_dip" />
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</group>
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<group name="thumb">
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<joint name="thumb_cmc_yaw" />
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<joint name="thumb_cmc_flex" />
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<joint name="thumb_mp" />
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<joint name="thumb_ip" />
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</group>
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<group name="fingers">
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<group name="index" />
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<group name="middle" />
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<group name="ring" />
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<group name="pinky" />
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</group>
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<group name="hand">
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<group name="index" />
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<group name="middle" />
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<group name="ring" />
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<group name="pinky" />
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<group name="thumb" />
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</group>
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<group_state name="zero" group="hand">
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<joint name="index_mcp" value="0" />
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<joint name="index_pip" value="0" />
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<joint name="index_dip" value="0" />
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<joint name="middle_mcp" value="0" />
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<joint name="middle_pip" value="0" />
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<joint name="middle_dip" value="0" />
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<joint name="ring_mcp" value="0" />
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<joint name="ring_pip" value="0" />
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<joint name="ring_dip" value="0" />
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<joint name="pinky_mcp" value="0" />
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<joint name="pinky_pip" value="0" />
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<joint name="pinky_dip" value="0" />
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<joint name="thumb_cmc_yaw" value="0" />
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<joint name="thumb_cmc_flex" value="0" />
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<joint name="thumb_mp" value="0" />
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<joint name="thumb_ip" value="0" />
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</group_state>
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<group_state name="relaxed" group="hand">
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<joint name="index_mcp" value="0.174532925" />
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<joint name="index_pip" value="0.244346095" />
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<joint name="index_dip" value="0.13962634" />
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<joint name="middle_mcp" value="0.20943951" />
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<joint name="middle_pip" value="0.27925268" />
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<joint name="middle_dip" value="0.157079633" />
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<joint name="ring_mcp" value="0.244346095" />
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<joint name="ring_pip" value="0.314159265" />
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<joint name="ring_dip" value="0.174532925" />
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<joint name="pinky_mcp" value="0.27925268" />
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<joint name="pinky_pip" value="0.34906585" />
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<joint name="pinky_dip" value="0.20943951" />
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<joint name="thumb_cmc_yaw" value="0.593411946" />
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<joint name="thumb_cmc_flex" value="0.453785606" />
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<joint name="thumb_mp" value="0.244346095" />
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<joint name="thumb_ip" value="0.20943951" />
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</group_state>
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<group_state name="fist" group="hand">
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<joint name="index_mcp" value="1.361356817" />
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<joint name="index_pip" value="1.745329252" />
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<joint name="index_dip" value="1.047197551" />
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<joint name="middle_mcp" value="1.361356817" />
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<joint name="middle_pip" value="1.745329252" />
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<joint name="middle_dip" value="1.047197551" />
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<joint name="ring_mcp" value="1.361356817" />
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<joint name="ring_pip" value="1.745329252" />
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<joint name="ring_dip" value="1.047197551" />
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<joint name="pinky_mcp" value="1.361356817" />
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<joint name="pinky_pip" value="1.745329252" />
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<joint name="pinky_dip" value="1.047197551" />
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<joint name="thumb_cmc_yaw" value="1.605702912" />
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<joint name="thumb_cmc_flex" value="0.226892803" />
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<joint name="thumb_mp" value="1.012290966" />
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<joint name="thumb_ip" value="1.291543646" />
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</group_state>
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<group_state name="precision_pinch" group="hand">
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<joint name="index_mcp" value="0.698131701" />
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<joint name="index_pip" value="0.837758041" />
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<joint name="index_dip" value="0.523598776" />
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<joint name="middle_mcp" value="1.151917306" />
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<joint name="middle_pip" value="1.605702912" />
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<joint name="middle_dip" value="0.959931089" />
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<joint name="ring_mcp" value="1.151917306" />
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<joint name="ring_pip" value="1.605702912" />
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<joint name="ring_dip" value="0.959931089" />
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<joint name="pinky_mcp" value="1.151917306" />
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<joint name="pinky_pip" value="1.605702912" />
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<joint name="pinky_dip" value="0.959931089" />
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<joint name="thumb_cmc_yaw" value="1.588249619" />
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<joint name="thumb_cmc_flex" value="0.593411946" />
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<joint name="thumb_mp" value="0.506145483" />
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<joint name="thumb_ip" value="0.13962634" />
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</group_state>
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<group_state name="tripod_pinch" group="hand">
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<joint name="index_mcp" value="0.767944871" />
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<joint name="index_pip" value="0.907571211" />
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<joint name="index_dip" value="0.558505361" />
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<joint name="middle_mcp" value="0.733038286" />
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<joint name="middle_pip" value="0.872664626" />
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<joint name="middle_dip" value="0.523598776" />
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<joint name="ring_mcp" value="1.151917306" />
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<joint name="ring_pip" value="1.605702912" />
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<joint name="ring_dip" value="0.959931089" />
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<joint name="pinky_mcp" value="1.151917306" />
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<joint name="pinky_pip" value="1.605702912" />
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<joint name="pinky_dip" value="0.959931089" />
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<joint name="thumb_cmc_yaw" value="1.745329252" />
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<joint name="thumb_cmc_flex" value="0.680678408" />
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<joint name="thumb_mp" value="0" />
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<joint name="thumb_ip" value="0.244346095" />
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</group_state>
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<group_state name="point" group="hand">
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<joint name="index_mcp" value="-0.104719755" />
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<joint name="index_pip" value="0" />
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<joint name="index_dip" value="0" />
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<joint name="middle_mcp" value="1.396263402" />
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<joint name="middle_pip" value="1.780235837" />
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<joint name="middle_dip" value="1.082104136" />
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<joint name="ring_mcp" value="1.396263402" />
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<joint name="ring_pip" value="1.780235837" />
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<joint name="ring_dip" value="1.082104136" />
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<joint name="pinky_mcp" value="1.396263402" />
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<joint name="pinky_pip" value="1.780235837" />
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<joint name="pinky_dip" value="1.082104136" />
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<joint name="thumb_cmc_yaw" value="1.082104136" />
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<joint name="thumb_cmc_flex" value="0.523598776" />
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<joint name="thumb_mp" value="0.733038286" />
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<joint name="thumb_ip" value="0.785398163" />
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</group_state>
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<group_state name="ok_sign" group="hand">
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<joint name="index_mcp" value="0.733038286" />
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<joint name="index_pip" value="0.907571211" />
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<joint name="index_dip" value="0.558505361" />
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<joint name="middle_mcp" value="0.104719755" />
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<joint name="middle_pip" value="0.13962634" />
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<joint name="middle_dip" value="0.06981317" />
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<joint name="ring_mcp" value="0.174532925" />
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<joint name="ring_pip" value="0.20943951" />
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<joint name="ring_dip" value="0.104719755" />
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<joint name="pinky_mcp" value="0.244346095" />
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<joint name="pinky_pip" value="0.27925268" />
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<joint name="pinky_dip" value="0.13962634" />
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<joint name="thumb_cmc_yaw" value="1.588249619" />
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<joint name="thumb_cmc_flex" value="0.453785606" />
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<joint name="thumb_mp" value="0.610865238" />
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<joint name="thumb_ip" value="0.34906585" />
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</group_state>
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<end_effector name="hand_eef" parent_link="palm" group="hand" />
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<disable_collisions link1="palm" link2="index_proximal" reason="Adjacent" />
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<disable_collisions link1="index_proximal" link2="index_middle" reason="Adjacent" />
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<disable_collisions link1="index_middle" link2="index_distal" reason="Adjacent" />
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<disable_collisions link1="palm" link2="middle_proximal" reason="Adjacent" />
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<disable_collisions link1="middle_proximal" link2="middle_middle" reason="Adjacent" />
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<disable_collisions link1="middle_middle" link2="middle_distal" reason="Adjacent" />
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<disable_collisions link1="palm" link2="ring_proximal" reason="Adjacent" />
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<disable_collisions link1="ring_proximal" link2="ring_middle" reason="Adjacent" />
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<disable_collisions link1="ring_middle" link2="ring_distal" reason="Adjacent" />
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<disable_collisions link1="palm" link2="pinky_proximal" reason="Adjacent" />
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<disable_collisions link1="pinky_proximal" link2="pinky_middle" reason="Adjacent" />
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<disable_collisions link1="pinky_middle" link2="pinky_distal" reason="Adjacent" />
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<disable_collisions link1="palm" link2="thumb_base" reason="Adjacent" />
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<disable_collisions link1="thumb_base" link2="thumb_metacarpal" reason="Adjacent" />
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<disable_collisions link1="thumb_metacarpal" link2="thumb_proximal" reason="Adjacent" />
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<disable_collisions link1="thumb_proximal" link2="thumb_distal" reason="Adjacent" />
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<disable_collisions link1="palm" link2="thumb_metacarpal" reason="Default" />
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</robot>
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