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9

Hands

#7
by realyunlong - opened
base: refs/heads/main
←
from: refs/pr/7
Discussion Files changed
+3
-20167
This view is limited to 50 files because it contains too many changes. See the raw diff here.
Files changed (50) hide show
  1. .gitignore +0 -1
  2. IPC/Trashbag_coarse.obj +0 -3
  3. IPC/Trashcan033.obj +0 -3
  4. IPC/chocolate_box.obj +0 -3
  5. IPC/cloth_ring.obj +0 -3
  6. IPC/grid10x10.obj +0 -3
  7. IPC/grid20x20.obj +0 -3
  8. IPC/grid2x2.obj +0 -3
  9. IPC/grid40x40.obj +0 -3
  10. IPC/grid80x80.obj +0 -3
  11. IPC/unisex_shirt.obj +0 -3
  12. apple_15/.DS_Store +0 -0
  13. apple_15/output.xml +1 -2
  14. band.obj +0 -3
  15. band_gripper.urdf +0 -132
  16. chain.urdf +0 -154
  17. ci_assets/cat.jpg +0 -3
  18. ci_assets/duck.jpg +0 -3
  19. ci_assets/eiffel.jpg +0 -3
  20. ci_assets/eiffel.webp +0 -3
  21. ci_assets/lantern.jpg +0 -3
  22. connect.xml +0 -53
  23. cross.xml +0 -30
  24. cube8.obj +0 -3
  25. cup_2/.DS_Store +0 -0
  26. dex/drill_1.glb +0 -3
  27. dex/table.glb +0 -3
  28. donut_0/.DS_Store +0 -0
  29. dual_arms_glb/cube.glb +0 -3
  30. dual_arms_glb/dual_arms_glb.urdf +0 -532
  31. dual_arms_primitives.urdf +0 -526
  32. fork/fork.glb +0 -3
  33. fork/fork.urdf +0 -24
  34. fork/fork_coll.glb +0 -3
  35. glb/mango.glb +0 -3
  36. glb/orange_plastic_bowl.glb +0 -3
  37. glb/tycoon_draco_no_normal.glb +0 -3
  38. glb/tycoon_with_normal_draco.glb +0 -3
  39. grasp_cloth1.csv +0 -0
  40. humanoid.xml +0 -313
  41. mug_1/.DS_Store +0 -0
  42. shadow_hand/LICENSE +0 -205
  43. shadow_hand/README.md +0 -13
  44. shadow_hand/bimanual.urdf +0 -1893
  45. shadow_hand/meshes/collision/f_distal_pst.obj +0 -3
  46. shadow_hand/meshes/collision/f_knuckle_E3M5.obj +0 -3
  47. shadow_hand/meshes/collision/forearm_E3M5.obj +0 -3
  48. shadow_hand/meshes/collision/th_middle_E3M5.obj +0 -3
  49. shadow_hand/meshes/collision/th_proximal_E3M5.obj +0 -3
  50. shadow_hand/meshes/visual/f_distal_pst.glb +0 -3
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IPC/grid10x10.obj DELETED
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IPC/grid20x20.obj DELETED
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IPC/grid2x2.obj DELETED
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IPC/grid40x40.obj DELETED
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IPC/grid80x80.obj DELETED
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- size 318216
 
 
 
 
IPC/unisex_shirt.obj DELETED
@@ -1,3 +0,0 @@
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- version https://git-lfs.github.com/spec/v1
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- oid sha256:57956c8316c956e74af9d4859d2ef894e79945b99b01d2ba168228deaa0dd71a
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- size 131481
 
 
 
 
apple_15/.DS_Store ADDED
Binary file (6.15 kB). View file
 
apple_15/output.xml CHANGED
@@ -9,8 +9,7 @@
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  <body>
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  <body name="object">
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  <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="apple_u1_v1" />
12
- <!-- Using a cylinder to approximate the apple mesh -->
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- <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="cylinder" size="0.03 0.025" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
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  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 -0.0343740733" name="bottom_site" />
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  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 0.0348929217" name="top_site" />
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  <site rgba="0 0 0 0" size="0.005" pos="0.0295444884 0.029559425700000003 0.0002594242000000008" name="horizontal_radius_site" />
 
9
  <body>
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  <body name="object">
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  <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="apple_u1_v1" />
12
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
 
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  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 -0.0343740733" name="bottom_site" />
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  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 0.0348929217" name="top_site" />
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  <site rgba="0 0 0 0" size="0.005" pos="0.0295444884 0.029559425700000003 0.0002594242000000008" name="horizontal_radius_site" />
band.obj DELETED
@@ -1,3 +0,0 @@
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- version https://git-lfs.github.com/spec/v1
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- oid sha256:49c2b0a6e169d4d453c07b80adc16845be7f7b5ff95469a0cb40759e1edb94d0
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- size 11698
 
 
 
 
band_gripper.urdf DELETED
@@ -1,132 +0,0 @@
1
- <?xml version="1.0"?>
2
- <robot name="band_gripper">
3
- <!-- Base link (fixed reference point at origin) -->
4
- <link name="base_link">
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- <visual>
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- <geometry>
7
- <box size="0.001 0.001 0.001"/>
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- </geometry>
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- </visual>
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- </link>
11
-
12
- <!-- Left Top Gripper -->
13
- <link name="left_top_gripper">
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- <inertial>
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- <origin xyz="0 0 0"/>
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- <mass value="0.2"/>
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- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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- </inertial>
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- <visual>
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- <origin xyz="0 0 0"/>
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- <geometry>
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- <box size="0.09 0.09 0.09"/>
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- </geometry>
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- <material name="blue">
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- <color rgba="0.3 0.5 0.8 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"/>
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- <geometry>
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- <box size="0.09 0.09 0.09"/>
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- </geometry>
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- </collision>
34
- </link>
35
-
36
- <joint name="left_top_joint" type="floating">
37
- <parent link="base_link"/>
38
- <child link="left_top_gripper"/>
39
- <origin xyz="0.0 -0.600 0.20" rpy="0 0 0"/>
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- </joint>
41
-
42
- <!-- Left Bottom Gripper -->
43
- <link name="left_bottom_gripper">
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- <inertial>
45
- <origin xyz="0 0 0"/>
46
- <mass value="0.2"/>
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- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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- </inertial>
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- <visual>
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- <origin xyz="0 0 0"/>
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- <geometry>
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- <box size="0.09 0.09 0.09"/>
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- </geometry>
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- <material name="blue">
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- <color rgba="0.3 0.5 0.8 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"/>
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- <geometry>
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- <box size="0.09 0.09 0.09"/>
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- </geometry>
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- </collision>
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- </link>
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-
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- <joint name="left_bottom_joint" type="floating">
67
- <parent link="base_link"/>
68
- <child link="left_bottom_gripper"/>
69
- <origin xyz="0.0 -0.600 -0.20" rpy="0 0 0"/>
70
- </joint>
71
-
72
- <!-- Right Top Gripper -->
73
- <link name="right_top_gripper">
74
- <inertial>
75
- <origin xyz="0 0 0"/>
76
- <mass value="0.2"/>
77
- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
78
- </inertial>
79
- <visual>
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- <origin xyz="0 0 0"/>
81
- <geometry>
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- <box size="0.09 0.09 0.09"/>
83
- </geometry>
84
- <material name="orange">
85
- <color rgba="0.8 0.5 0.3 1.0"/>
86
- </material>
87
- </visual>
88
- <collision>
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- <origin xyz="0 0 0"/>
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- <geometry>
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- <box size="0.09 0.09 0.09"/>
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- </geometry>
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- </collision>
94
- </link>
95
-
96
- <joint name="right_top_joint" type="floating">
97
- <parent link="base_link"/>
98
- <child link="right_top_gripper"/>
99
- <origin xyz="0.0 0.600 0.20" rpy="0 0 0"/>
100
- </joint>
101
-
102
- <!-- Right Bottom Gripper -->
103
- <link name="right_bottom_gripper">
104
- <inertial>
105
- <origin xyz="0 0 0"/>
106
- <mass value="0.2"/>
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- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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- </inertial>
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- <visual>
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- <origin xyz="0 0 0"/>
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- <geometry>
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- <box size="0.09 0.09 0.09"/>
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- </geometry>
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- <material name="orange">
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- <color rgba="0.8 0.5 0.3 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"/>
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- <geometry>
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- <box size="0.09 0.09 0.09"/>
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- </geometry>
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- </collision>
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- </link>
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-
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- <joint name="right_bottom_joint" type="floating">
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- <parent link="base_link"/>
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- <child link="right_bottom_gripper"/>
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- <origin xyz="0.0 0.600 -0.20" rpy="0 0 0"/>
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- </joint>
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-
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- </robot>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
chain.urdf DELETED
@@ -1,154 +0,0 @@
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- <?xml version="1.0"?>
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- <robot name="chain_test">
3
- <!-- Material definition -->
4
- <material name="Grey">
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- <color rgba="0.2 0.2 0.2 1.0"/>
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- </material>
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-
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- <!-- Base link -->
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- <link name="base">
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- <inertial>
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- <mass value="10.0"/>
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- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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- </inertial>
14
- </link>
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-
16
- <!-- Chain 1: base -> fixed_1 -> fixed_2 -> fixed_3 -> revolute -> arm -->
17
- <joint name="fix_j1" type="fixed">
18
- <origin xyz="0.1 0 0" rpy="0.3 0 0"/>
19
- <parent link="base"/>
20
- <child link="fixed_1"/>
21
- </joint>
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- <link name="fixed_1">
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- <visual>
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- <geometry>
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- <material name="Grey"/>
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- <inertial>
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- <mass value="1.0"/>
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- <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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- </inertial>
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- </link>
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-
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- <joint name="fix_j2" type="fixed">
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- <origin xyz="0.1 0 0" rpy="0 0.4 0"/>
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- <parent link="fixed_1"/>
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- <child link="fixed_2"/>
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- </joint>
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- <link name="fixed_2">
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- <visual>
43
- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
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- <cylinder radius="0.025" length="0.05"/>
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- </geometry>
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- <material name="Grey"/>
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- </visual>
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- <inertial>
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- <mass value="2.0"/>
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- <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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- </inertial>
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- </link>
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-
55
- <joint name="fix_j3" type="fixed">
56
- <origin xyz="0.1 0 0" rpy="0 0 0.5"/>
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- <parent link="fixed_2"/>
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- <child link="fixed_3"/>
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- </joint>
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- <link name="fixed_3">
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- <visual>
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- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
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- <cylinder radius="0.03" length="0.05"/>
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- </geometry>
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- <material name="Grey"/>
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- </visual>
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- <inertial>
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- <mass value="3.0"/>
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- <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
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- </inertial>
72
- </link>
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-
74
- <joint name="shoulder" type="revolute">
75
- <origin xyz="0.4 0 0" rpy="0 0 0"/>
76
- <axis xyz="0 1 0"/>
77
- <parent link="fixed_3"/>
78
- <child link="arm"/>
79
- <limit lower="-3.14" upper="3.14" effort="100.0" velocity="2.0"/>
80
- </joint>
81
- <link name="arm">
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- <visual>
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- <origin xyz="0 0 0.25" rpy="0 0 0"/>
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- <geometry>
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- <box size="0.05 0.05 0.5"/>
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- </geometry>
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- <material name="Grey"/>
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- </visual>
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- <inertial>
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- <mass value="5.0"/>
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- <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
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- </inertial>
93
- </link>
94
-
95
- <!-- Chain 2: arm -> adapter_1 -> adapter_2 -> prismatic -> slider -->
96
- <joint name="adapt_j1" type="fixed">
97
- <origin xyz="0 0 0.5" rpy="0.1 0.0 0.2"/>
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- <parent link="arm"/>
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- <child link="adapter_1"/>
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- </joint>
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- <link name="adapter_1">
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- <visual>
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- <origin xyz="0 0 0.05" rpy="0 0 0"/>
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- <geometry>
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- <cylinder radius="0.03" length="0.1"/>
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- <material name="Grey"/>
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- </visual>
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- <inertial>
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- <mass value="0.5"/>
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- <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
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- </inertial>
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- </link>
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-
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- <joint name="adapt_j2" type="fixed">
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- <origin xyz="0 0 0.1" rpy="0 0.3 0"/>
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- <parent link="adapter_1"/>
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- <child link="adapter_2"/>
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- </joint>
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- <link name="adapter_2">
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- <visual>
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- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
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- <mass value="0.3"/>
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- </inertial>
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- </link>
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-
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- <joint name="slider" type="prismatic">
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- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <axis xyz="0 0 1"/>
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- <parent link="adapter_2"/>
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- <child link="end_effector"/>
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- <link name="end_effector">
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- <material name="Grey"/>
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- </visual>
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- <inertial>
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- <mass value="2.0"/>
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- <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.005"/>
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- </inertial>
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- </link>
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- </robot>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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connect.xml DELETED
@@ -1,53 +0,0 @@
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- <mujoco>
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- <!-- https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/connect.xml -->
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327
- <axis xyz="0 0 1" />
328
- <limit lower="-3.1067" upper="3.1067" effort="18" velocity="3.1416" />
329
- </joint>
330
- <joint name="Joint6_L" type="revolute">
331
- <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
332
- <parent link="Link5_L" />
333
- <child link="Link6_L" />
334
- <axis xyz="0 0 1" />
335
- <limit lower="-1.0472" upper="1.0472" effort="18" velocity="3.1416" />
336
- </joint>
337
- <joint name="Joint7_L" type="revolute">
338
- <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
339
- <parent link="Link6_L" />
340
- <child link="Link7_L" />
341
- <axis xyz="0 0 1" />
342
- <limit lower="-1.5708" upper="1.5708" effort="18" velocity="3.1416" />
343
- </joint>
344
- <link name="Custom_Adapter_R">
345
- <visual>
346
- <origin xyz="0 0 0" rpy="0 0 0" />
347
- <geometry>
348
- <cylinder radius="0.02" length="0.05" />
349
- </geometry>
350
- </visual>
351
- <inertial>
352
- <origin xyz="0 -0.0025 -0.01463" rpy="0 0 0" />
353
- <mass value="0.077" />
354
- <inertia ixx="0.00003320913" ixy="0" ixz="0" iyy="0.000035888" iyz="0.000001678" izz="0.000032068" />
355
- </inertial>
356
- </link>
357
- <link name="CA_Offset_Link_R" />
358
- <joint name="Custom_Adapter_Mounting_Offset_R" type="fixed">
359
- <parent link="CA_Offset_Link_R" />
360
- <child link="Custom_Adapter_R" />
361
- <origin xyz="-0.002 0 0" rpy="0 0 0" />
362
- </joint>
363
- <joint name="Link7_to_Custom_Adapter_R" type="fixed">
364
- <parent link="Link7_R" />
365
- <child link="CA_Offset_Link_R" />
366
- <origin xyz="0 -0.095 0" rpy="1.5708 0 -1.5708" />
367
- </joint>
368
- <link name="Dummy_Link_R" />
369
- <joint name="Custom_Adapter_to_Dummy_Link_R" type="fixed">
370
- <parent link="Custom_Adapter_R" />
371
- <child link="Dummy_Link_R" />
372
- <origin xyz="0.0368866 0 -0.0151166" rpy="0 2.35619449 0" />
373
- </joint>
374
- <link name="Pika_Gripper_Base_R">
375
- <visual>
376
- <origin xyz="0 0 0.092" rpy="0 0 0" />
377
- <geometry>
378
- <cylinder radius="0.03" length="0.185" />
379
- </geometry>
380
- </visual>
381
- <inertial>
382
- <origin xyz="0 0 0.04" rpy="0 0 0" />
383
- <mass value="0.92" />
384
- <inertia ixx="0.000499038" ixy="0" ixz="0" iyy="0.000499038" iyz="0" izz="0.000402876" />
385
- </inertial>
386
- </link>
387
- <joint name="Dummy_Link_to_Pika_Base_R" type="fixed">
388
- <parent link="Dummy_Link_R" />
389
- <child link="Pika_Gripper_Base_R" />
390
- <origin xyz="0 0 0" rpy="0 0 1.5708" />
391
- </joint>
392
- <link name="Link8_R">
393
- <visual>
394
- <origin xyz="0 0 0.035" rpy="0 0 0" />
395
- <geometry>
396
- <cylinder radius="0.012" length="0.07" />
397
- </geometry>
398
- </visual>
399
- <inertial>
400
- <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
401
- <mass value="0.044" />
402
- <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
403
- </inertial>
404
- </link>
405
- <joint name="Joint8_R" type="prismatic">
406
- <parent link="Pika_Gripper_Base_R" />
407
- <child link="Link8_R" />
408
- <origin xyz="0 -0.02 0.08" rpy="0 1.5708 1.5708" />
409
- <axis xyz="0 1 0" />
410
- <limit lower="0" upper="0.05" effort="10" velocity="1" />
411
- </joint>
412
- <link name="Link9_R">
413
- <visual>
414
- <origin xyz="0 0 0.035" rpy="0 0 0" />
415
- <geometry>
416
- <cylinder radius="0.012" length="0.07" />
417
- </geometry>
418
- </visual>
419
- <inertial>
420
- <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
421
- <mass value="0.044" />
422
- <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
423
- </inertial>
424
- </link>
425
- <joint name="Joint9_R" type="prismatic">
426
- <parent link="Pika_Gripper_Base_R" />
427
- <child link="Link9_R" />
428
- <origin xyz="0 0.022 0.08" rpy="0 1.5708 -1.5708" />
429
- <axis xyz="0 1 0" />
430
- <limit lower="0" upper="0.05" effort="10" velocity="1" />
431
- </joint>
432
- <link name="Gripper_Tip_R" />
433
- <joint name="Pika_Gripper_Base_to_Gripper_Tip_R" type="fixed">
434
- <parent link="Pika_Gripper_Base_R" />
435
- <child link="Gripper_Tip_R" />
436
- <origin xyz="0 0 0.1845" rpy="0 0 0" />
437
- </joint>
438
- <link name="Custom_Adapter_L">
439
- <visual>
440
- <origin xyz="0 0 0" rpy="0 0 0" />
441
- <geometry>
442
- <cylinder radius="0.02" length="0.05" />
443
- </geometry>
444
- </visual>
445
- <inertial>
446
- <origin xyz="0 -0.0025 -0.01463" rpy="0 0 0" />
447
- <mass value="0.077" />
448
- <inertia ixx="0.00003320913" ixy="0" ixz="0" iyy="0.000035888" iyz="0.000001678" izz="0.000032068" />
449
- </inertial>
450
- </link>
451
- <link name="CA_Offset_Link_L" />
452
- <joint name="Custom_Adapter_Mounting_Offset_L" type="fixed">
453
- <parent link="CA_Offset_Link_L" />
454
- <child link="Custom_Adapter_L" />
455
- <origin xyz="-0.002 0 0" rpy="0 0 0" />
456
- </joint>
457
- <joint name="Link7_to_Custom_Adapter_L" type="fixed">
458
- <parent link="Link7_L" />
459
- <child link="CA_Offset_Link_L" />
460
- <origin xyz="0 -0.095 0" rpy="-1.5708 0 -1.5708" />
461
- </joint>
462
- <link name="Dummy_Link_L" />
463
- <joint name="Custom_Adapter_to_Dummy_Link_L" type="fixed">
464
- <parent link="Custom_Adapter_L" />
465
- <child link="Dummy_Link_L" />
466
- <origin xyz="0.0368866 0 -0.0151166" rpy="0 2.35619449 0" />
467
- </joint>
468
- <link name="Pika_Gripper_Base_L">
469
- <visual>
470
- <origin xyz="0 0 0.092" rpy="0 0 0" />
471
- <geometry>
472
- <cylinder radius="0.03" length="0.185" />
473
- </geometry>
474
- </visual>
475
- <inertial>
476
- <origin xyz="0 0 0.04" rpy="0 0 0" />
477
- <mass value="0.92" />
478
- <inertia ixx="0.000499038" ixy="0" ixz="0" iyy="0.000499038" iyz="0" izz="0.000402876" />
479
- </inertial>
480
- </link>
481
- <joint name="Dummy_Link_to_Pika_Base_L" type="fixed">
482
- <parent link="Dummy_Link_L" />
483
- <child link="Pika_Gripper_Base_L" />
484
- <origin xyz="0 0 0" rpy="0 0 1.5708" />
485
- </joint>
486
- <link name="Link8_L">
487
- <visual>
488
- <origin xyz="0 0 0.035" rpy="0 0 0" />
489
- <geometry>
490
- <cylinder radius="0.012" length="0.07" />
491
- </geometry>
492
- </visual>
493
- <inertial>
494
- <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
495
- <mass value="0.044" />
496
- <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
497
- </inertial>
498
- </link>
499
- <joint name="Joint8_L" type="prismatic">
500
- <parent link="Pika_Gripper_Base_L" />
501
- <child link="Link8_L" />
502
- <origin xyz="0 -0.02 0.08" rpy="0 1.5708 1.5708" />
503
- <axis xyz="0 1 0" />
504
- <limit lower="0" upper="0.05" effort="10" velocity="1" />
505
- </joint>
506
- <link name="Link9_L">
507
- <visual>
508
- <origin xyz="0 0 0.035" rpy="0 0 0" />
509
- <geometry>
510
- <cylinder radius="0.012" length="0.07" />
511
- </geometry>
512
- </visual>
513
- <inertial>
514
- <origin xyz="-0.03 0.026 0.021" rpy="0 0 0" />
515
- <mass value="0.044" />
516
- <inertia ixx="0.000018164" ixy="0.000012927" ixz="0" iyy="0.000027803" iyz="0" izz="0.000034835" />
517
- </inertial>
518
- </link>
519
- <joint name="Joint9_L" type="prismatic">
520
- <parent link="Pika_Gripper_Base_L" />
521
- <child link="Link9_L" />
522
- <origin xyz="0 0.022 0.08" rpy="0 1.5708 -1.5708" />
523
- <axis xyz="0 1 0" />
524
- <limit lower="0" upper="0.05" effort="10" velocity="1" />
525
- </joint>
526
- <link name="Gripper_Tip_L" />
527
- <joint name="Pika_Gripper_Base_to_Gripper_Tip_L" type="fixed">
528
- <parent link="Pika_Gripper_Base_L" />
529
- <child link="Gripper_Tip_L" />
530
- <origin xyz="0 0 0.1845" rpy="0 0 0" />
531
- </joint>
532
- </robot>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
dual_arms_primitives.urdf DELETED
@@ -1,526 +0,0 @@
1
- <?xml version='1.0' encoding='utf-8'?>
2
- <robot name="Tianji Bimanual urdf">
3
- <link name="world" />
4
- <link name="Base_Mount">
5
- <inertial>
6
- <origin xyz="-0.12 0 0" rpy="0 0 0" />
7
- <mass value="2.0" />
8
- <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.05" />
9
- </inertial>
10
- <visual>
11
- <origin xyz="-0.12 0 0" rpy="1.5708 0 0" />
12
- <geometry>
13
- <cylinder radius="0.04" length="0.10" />
14
- </geometry>
15
- </visual>
16
- </link>
17
- <joint name="world_to_Base_Mount" type="fixed">
18
- <origin xyz="0 0 0" rpy="0 1.5708 0" />
19
- <parent link="world" />
20
- <child link="Base_Mount" />
21
- </joint>
22
- <joint name="Base_R_to_Base_Mount" type="fixed">
23
- <origin xyz="-0.12 -0.037 0" rpy="1.5708 -1.5708 0" />
24
- <parent link="Base_Mount" />
25
- <child link="Base_R" />
26
- </joint>
27
- <link name="Base_R">
28
- <inertial>
29
- <origin xyz="0.00032267 4.798E-05 0.04066353" rpy="0 0 0" />
30
- <mass value="1.1962" />
31
- <inertia ixx="0.00107329" ixy="-1.68E-06" ixz="-1.05E-05" iyy="0.00107003" iyz="-3.43E-06" izz="0.00127315" />
32
- </inertial>
33
- <visual>
34
- <origin xyz="0 0 0.087" rpy="0 0 0" />
35
- <geometry>
36
- <cylinder radius="0.04" length="0.175" />
37
- </geometry>
38
- </visual>
39
- </link>
40
- <link name="Link1_R">
41
- <inertial>
42
- <origin xyz="0.00002347 0.00557150 -0.03075998" rpy="0 0 0" />
43
- <mass value="1.9705" />
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- <inertia ixx="0.00492293" ixy="0.00000550" ixz="0.00000193" iyy="0.00526513" iyz="0.00033232" izz="0.00188107" />
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- </inertial>
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- <visual>
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- <origin xyz="0 0 0" rpy="0 0 0" />
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- <geometry>
49
- <cylinder radius="0.04" length="0.08" />
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- </geometry>
51
- </visual>
52
- </link>
53
- <link name="Link2_R">
54
- <inertial>
55
- <origin xyz="0.00013483 0.06170460 0.00950639" rpy="0 0 0" />
56
- <mass value="2.24398" />
57
- <inertia ixx="0.01194933" ixy="0.00000336" ixz="0.00000091" iyy="0.00361581" iyz="-0.00132804" izz="0.01098356" />
58
- </inertial>
59
- <visual>
60
- <origin xyz="0 0.1435 0" rpy="1.5708 0 0" />
61
- <geometry>
62
- <cylinder radius="0.04" length="0.287" />
63
- </geometry>
64
- </visual>
65
- </link>
66
- <link name="Link3_R">
67
- <inertial>
68
- <origin xyz="0.00968562 0.00246599 -0.04627302" rpy="0 0 0" />
69
- <mass value="1.9242" />
70
- <inertia ixx="0.00718224" ixy="0.00004413" ixz="0.00089552" iyy="0.00762563" iyz="0.00022096" izz="0.00178597" />
71
- </inertial>
72
- <visual>
73
- <origin xyz="0 0 0" rpy="0 0 0" />
74
- <geometry>
75
- <cylinder radius="0.04" length="0.06" />
76
- </geometry>
77
- </visual>
78
- </link>
79
- <link name="Link4_R">
80
- <inertial>
81
- <origin xyz="0.00850411 -0.04718223 0.00941509" rpy="0 0 0" />
82
- <mass value="1.6085" />
83
- <inertia ixx="0.00580480" ixy="-0.00066669" ixz="-0.00012722" iyy="0.00223807" iyz="0.00070523" izz="0.00533060" />
84
- </inertial>
85
- <visual>
86
- <origin xyz="0 -0.157 0" rpy="1.5708 0 0" />
87
- <geometry>
88
- <cylinder radius="0.04" length="0.314" />
89
- </geometry>
90
- </visual>
91
- </link>
92
- <link name="Link5_R">
93
- <inertial>
94
- <origin xyz="-0.00051127 -0.00101064 -0.11271739" rpy="0 0 0" />
95
- <mass value="2.0883" />
96
- <inertia ixx="0.00626603" ixy="0.00004009" ixz="-0.00005338" iyy="0.00564387" iyz="0.00006193" izz="0.00243632" />
97
- </inertial>
98
- <visual>
99
- <origin xyz="0 0 0.06" rpy="0 0 0" />
100
- <geometry>
101
- <cylinder radius="0.035" length="0.12" />
102
- </geometry>
103
- </visual>
104
- </link>
105
- <link name="Link6_R">
106
- <inertial>
107
- <origin xyz="0.00032659 -0.00531336 0.00030182" rpy="0 0 0" />
108
- <mass value="0.72496" />
109
- <inertia ixx="0.00046040" ixy="-0.00000189" ixz="-0.00000083" iyy="0.00051716" iyz="-0.00000346" izz="0.00042521" />
110
- </inertial>
111
- <visual>
112
- <origin xyz="0 0 0" rpy="0 0 0" />
113
- <geometry>
114
- <cylinder radius="0.035" length="0.05" />
115
- </geometry>
116
- </visual>
117
- </link>
118
- <link name="Link7_R">
119
- <inertial>
120
- <origin xyz="-0.00009108 -0.03153255 0.00889371" rpy="0 0 0" />
121
- <mass value="0.68606" />
122
- <inertia ixx="0.00173687" ixy="-0.00000345" ixz="-0.00000116" iyy="0.00089035" iyz="0.00030680" izz="0.00139406" />
123
- </inertial>
124
- <visual>
125
- <origin xyz="0 -0.0475 0" rpy="1.5708 0 0" />
126
- <geometry>
127
- <cylinder radius="0.035" length="0.095" />
128
- </geometry>
129
- </visual>
130
- </link>
131
- <joint name="Joint1_R" type="revolute">
132
- <origin xyz="0 0 0.1745" rpy="0 0 0" />
133
- <parent link="Base_R" />
134
- <child link="Link1_R" />
135
- <axis xyz="0 0 1" />
136
- <limit lower="-3.1067" upper="3.1067" effort="108" velocity="3.1416" />
137
- </joint>
138
- <joint name="Joint2_R" type="revolute">
139
- <origin xyz="0 0 0" rpy="1.5708 0 0" />
140
- <parent link="Link1_R" />
141
- <child link="Link2_R" />
142
- <axis xyz="0 0 1" />
143
- <limit lower="-2.0944" upper="2.0944" effort="108" velocity="3.1416" />
144
- </joint>
145
- <joint name="Joint3_R" type="revolute">
146
- <origin xyz="0 0.287 0" rpy="-1.5708 0 0" />
147
- <parent link="Link2_R" />
148
- <child link="Link3_R" />
149
- <axis xyz="0 0 1" />
150
- <limit lower="-3.1067" upper="3.1067" effort="66" velocity="3.1416" />
151
- </joint>
152
- <joint name="Joint4_R" type="revolute">
153
- <origin xyz="0.018 0 0" rpy="-1.5708 0 3.1416" />
154
- <parent link="Link3_R" />
155
- <child link="Link4_R" />
156
- <axis xyz="0 0 1" />
157
- <limit lower="-2.5307" upper="1.0472" effort="66" velocity="3.1416" />
158
- </joint>
159
- <joint name="Joint5_R" type="revolute">
160
- <origin xyz="0.018 -0.314 0" rpy="-1.5708 0 3.1416" />
161
- <parent link="Link4_R" />
162
- <child link="Link5_R" />
163
- <axis xyz="0 0 1" />
164
- <limit lower="-3.1067" upper="3.1067" effort="18" velocity="3.1416" />
165
- </joint>
166
- <joint name="Joint6_R" type="revolute">
167
- <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
168
- <parent link="Link5_R" />
169
- <child link="Link6_R" />
170
- <axis xyz="0 0 1" />
171
- <limit lower="-1.0472" upper="1.0472" effort="18" velocity="3.1416" />
172
- </joint>
173
- <joint name="Joint7_R" type="revolute">
174
- <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
175
- <parent link="Link6_R" />
176
- <child link="Link7_R" />
177
- <axis xyz="0 0 1" />
178
- <limit lower="-1.5708" upper="1.5708" effort="18" velocity="3.1416" />
179
- </joint>
180
- <joint name="Base_Mount_to_Base_L" type="fixed">
181
- <origin xyz="-0.12 0.037 0" rpy="1.5708 -1.5708 -3.1415926" />
182
- <parent link="Base_Mount" />
183
- <child link="Base_L" />
184
- </joint>
185
- <link name="Base_L">
186
- <inertial>
187
- <origin xyz="0.00032267 4.798E-05 0.04066353" rpy="0 0 0" />
188
- <mass value="1.1962" />
189
- <inertia ixx="0.00107329" ixy="-1.68E-06" ixz="-1.05E-05" iyy="0.00107003" iyz="-3.43E-06" izz="0.00127315" />
190
- </inertial>
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- <general name="R_Knee_x" joint="R_Knee_x" biastype="affine" gainprm="278.10948965903646" biasprm="261.8988715665131 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
195
- <general name="R_Knee_y" joint="R_Knee_y" biastype="affine" gainprm="18.001325905069514" biasprm="-3.612831551628262 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
196
- <general name="R_Knee_z" joint="R_Knee_z" biastype="affine" gainprm="18.001325905069514" biasprm="3.612831551628262 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
197
- <general name="R_Ankle_x" joint="R_Ankle_x" biastype="affine" gainprm="72.00530362027807" biasprm="0.0 -90 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-180 180"/>
198
- <general name="R_Ankle_y" joint="R_Ankle_y" biastype="affine" gainprm="76.49778111491148" biasprm="40.49512930477244 -90 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-180 180"/>
199
- <general name="R_Ankle_z" joint="R_Ankle_z" biastype="affine" gainprm="7.1942471767206255" biasprm="0.0 -90 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-180 180"/>
200
- <general name="R_Toe_x" joint="R_Toe_x" biastype="affine" gainprm="71.99902043497087" biasprm="-43.19689898685965 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
201
- <general name="R_Toe_y" joint="R_Toe_y" biastype="affine" gainprm="5.755397741376501" biasprm="0.0 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
202
- <general name="R_Toe_z" joint="R_Toe_z" biastype="affine" gainprm="5.755397741376501" biasprm="0.0 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
203
- <general name="Torso_x" joint="Torso_x" biastype="affine" gainprm="174.00234510682668" biasprm="66.0153336274335 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
204
- <general name="Torso_y" joint="Torso_y" biastype="affine" gainprm="240.0176787342602" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
205
- <general name="Torso_z" joint="Torso_z" biastype="affine" gainprm="144.01060724055614" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
206
- <general name="Spine_x" joint="Spine_x" biastype="affine" gainprm="174.00234510682668" biasprm="66.0153336274335 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
207
- <general name="Spine_y" joint="Spine_y" biastype="affine" gainprm="240.0176787342602" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
208
- <general name="Spine_z" joint="Spine_z" biastype="affine" gainprm="144.01060724055614" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
209
- <general name="Chest_x" joint="Chest_x" biastype="affine" gainprm="174.00234510682668" biasprm="66.0153336274335 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
210
- <general name="Chest_y" joint="Chest_y" biastype="affine" gainprm="240.0176787342602" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
211
- <general name="Chest_z" joint="Chest_z" biastype="affine" gainprm="144.01060724055614" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
212
- <general name="Neck_x" joint="Neck_x" biastype="affine" gainprm="27.00198885760427" biasprm="9.000662952534757 -36 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-72 72"/>
213
- <general name="Neck_y" joint="Neck_y" biastype="affine" gainprm="25.20185626709732" biasprm="0.0 -36 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-72 72"/>
214
- <general name="Neck_z" joint="Neck_z" biastype="affine" gainprm="25.20185626709732" biasprm="0.0 -36 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-72 72"/>
215
- <general name="Head_x" joint="Head_x" biastype="affine" gainprm="18.001325905069514" biasprm="6.000441968356505 -24 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-48 48"/>
216
- <general name="Head_y" joint="Head_y" biastype="affine" gainprm="16.801237511398213" biasprm="0.0 -24 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-48 48"/>
217
- <general name="Head_z" joint="Head_z" biastype="affine" gainprm="16.801237511398213" biasprm="0.0 -24 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-48 48"/>
218
- <general name="L_Thorax_x" joint="L_Thorax_x" biastype="affine" gainprm="16.200146117011364" biasprm="-6.6078165480505335 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
219
- <general name="L_Thorax_y" joint="L_Thorax_y" biastype="affine" gainprm="48.00353574685204" biasprm="-12.00088393671301 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
220
- <general name="L_Thorax_z" joint="L_Thorax_z" biastype="affine" gainprm="75.00028861670033" biasprm="9.00589894029074 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
221
- <general name="L_Shoulder_x" joint="L_Shoulder_x" biastype="affine" gainprm="81.5976331892389" biasprm="0.0 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
222
- <general name="L_Shoulder_y" joint="L_Shoulder_y" biastype="affine" gainprm="79.19745640189629" biasprm="-12.00088393671301 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
223
- <general name="L_Shoulder_z" joint="L_Shoulder_z" biastype="affine" gainprm="76.79727961455369" biasprm="-4.800353574685214 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
224
- <general name="L_Elbow_x" joint="L_Elbow_x" biastype="affine" gainprm="13.67849441372996" biasprm="-7.923096672353461 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
225
- <general name="L_Elbow_y" joint="L_Elbow_y" biastype="affine" gainprm="123.89813107227425" biasprm="-102.29653998619085 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
226
- <general name="L_Elbow_z" joint="L_Elbow_z" biastype="affine" gainprm="66.23733950828719" biasprm="-60.4819417669107 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
227
- <general name="L_Wrist_x" joint="L_Wrist_x" biastype="affine" gainprm="21.24973270888136" biasprm="-16.449379134196157 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
228
- <general name="L_Wrist_y" joint="L_Wrist_y" biastype="affine" gainprm="3.6002651810139037" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
229
- <general name="L_Wrist_z" joint="L_Wrist_z" biastype="affine" gainprm="4.800353574685205" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
230
- <general name="L_Hand_x" joint="L_Hand_x" biastype="affine" gainprm="3.6002651810139037" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
231
- <general name="L_Hand_y" joint="L_Hand_y" biastype="affine" gainprm="10.800795543041708" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
232
- <general name="L_Hand_z" joint="L_Hand_z" biastype="affine" gainprm="19.199319903638422" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
233
- <general name="R_Thorax_x" joint="R_Thorax_x" biastype="affine" gainprm="16.200146117011364" biasprm="-6.6078165480505335 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
234
- <general name="R_Thorax_y" joint="R_Thorax_y" biastype="affine" gainprm="48.00353574685204" biasprm="12.000883936713002 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
235
- <general name="R_Thorax_z" joint="R_Thorax_z" biastype="affine" gainprm="75.00028861670033" biasprm="-9.00589894029074 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
236
- <general name="R_Shoulder_x" joint="R_Shoulder_x" biastype="affine" gainprm="81.5976331892389" biasprm="0.0 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
237
- <general name="R_Shoulder_y" joint="R_Shoulder_y" biastype="affine" gainprm="79.19745640189629" biasprm="12.00088393671301 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
238
- <general name="R_Shoulder_z" joint="R_Shoulder_z" biastype="affine" gainprm="76.79727961455369" biasprm="4.800353574685204 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
239
- <general name="R_Elbow_x" joint="R_Elbow_x" biastype="affine" gainprm="13.67849441372996" biasprm="-7.923096672353461 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
240
- <general name="R_Elbow_y" joint="R_Elbow_y" biastype="affine" gainprm="123.89813107227425" biasprm="102.29653998619085 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
241
- <general name="R_Elbow_z" joint="R_Elbow_z" biastype="affine" gainprm="66.23733950828719" biasprm="60.481941766910694 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
242
- <general name="R_Wrist_x" joint="R_Wrist_x" biastype="affine" gainprm="21.24973270888136" biasprm="-16.449379134196157 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
243
- <general name="R_Wrist_y" joint="R_Wrist_y" biastype="affine" gainprm="3.6002651810139037" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
244
- <general name="R_Wrist_z" joint="R_Wrist_z" biastype="affine" gainprm="4.800353574685205" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
245
- <general name="R_Hand_x" joint="R_Hand_x" biastype="affine" gainprm="3.6002651810139037" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
246
- <general name="R_Hand_y" joint="R_Hand_y" biastype="affine" gainprm="10.800795543041708" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
247
- <general name="R_Hand_z" joint="R_Hand_z" biastype="affine" gainprm="19.199319903638422" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
248
- </actuator>
249
- <contact>
250
- <exclude body1="Torso" body2="Chest"/>
251
- <exclude body1="Head" body2="Chest"/>
252
- <exclude body1="R_Knee" body2="R_Toe"/>
253
- <exclude body1="R_Knee" body2="L_Ankle"/>
254
- <exclude body1="R_Knee" body2="L_Toe"/>
255
- <exclude body1="L_Knee" body2="L_Toe"/>
256
- <exclude body1="L_Knee" body2="R_Ankle"/>
257
- <exclude body1="L_Knee" body2="R_Toe"/>
258
- <exclude body1="L_Shoulder" body2="Chest"/>
259
- <exclude body1="R_Shoulder" body2="Chest"/>
260
- </contact>
261
- <sensor>
262
- <framelinvel name="sensor_Pelvis_framelinvel" objtype="xbody" objname="Pelvis"/>
263
- <framelinvel name="sensor_L_Hip_framelinvel" objtype="xbody" objname="L_Hip"/>
264
- <framelinvel name="sensor_L_Knee_framelinvel" objtype="xbody" objname="L_Knee"/>
265
- <framelinvel name="sensor_L_Ankle_framelinvel" objtype="xbody" objname="L_Ankle"/>
266
- <framelinvel name="sensor_L_Toe_framelinvel" objtype="xbody" objname="L_Toe"/>
267
- <framelinvel name="sensor_R_Hip_framelinvel" objtype="xbody" objname="R_Hip"/>
268
- <framelinvel name="sensor_R_Knee_framelinvel" objtype="xbody" objname="R_Knee"/>
269
- <framelinvel name="sensor_R_Ankle_framelinvel" objtype="xbody" objname="R_Ankle"/>
270
- <framelinvel name="sensor_R_Toe_framelinvel" objtype="xbody" objname="R_Toe"/>
271
- <framelinvel name="sensor_Torso_framelinvel" objtype="xbody" objname="Torso"/>
272
- <framelinvel name="sensor_Spine_framelinvel" objtype="xbody" objname="Spine"/>
273
- <framelinvel name="sensor_Chest_framelinvel" objtype="xbody" objname="Chest"/>
274
- <framelinvel name="sensor_Neck_framelinvel" objtype="xbody" objname="Neck"/>
275
- <framelinvel name="sensor_Head_framelinvel" objtype="xbody" objname="Head"/>
276
- <framelinvel name="sensor_L_Thorax_framelinvel" objtype="xbody" objname="L_Thorax"/>
277
- <framelinvel name="sensor_L_Shoulder_framelinvel" objtype="xbody" objname="L_Shoulder"/>
278
- <framelinvel name="sensor_L_Elbow_framelinvel" objtype="xbody" objname="L_Elbow"/>
279
- <framelinvel name="sensor_L_Wrist_framelinvel" objtype="xbody" objname="L_Wrist"/>
280
- <framelinvel name="sensor_L_Hand_framelinvel" objtype="xbody" objname="L_Hand"/>
281
- <framelinvel name="sensor_R_Thorax_framelinvel" objtype="xbody" objname="R_Thorax"/>
282
- <framelinvel name="sensor_R_Shoulder_framelinvel" objtype="xbody" objname="R_Shoulder"/>
283
- <framelinvel name="sensor_R_Elbow_framelinvel" objtype="xbody" objname="R_Elbow"/>
284
- <framelinvel name="sensor_R_Wrist_framelinvel" objtype="xbody" objname="R_Wrist"/>
285
- <framelinvel name="sensor_R_Hand_framelinvel" objtype="xbody" objname="R_Hand"/>
286
- <frameangvel name="sensor_Pelvis_frameangvel" objtype="xbody" objname="Pelvis"/>
287
- <frameangvel name="sensor_L_Hip_frameangvel" objtype="xbody" objname="L_Hip"/>
288
- <frameangvel name="sensor_L_Knee_frameangvel" objtype="xbody" objname="L_Knee"/>
289
- <frameangvel name="sensor_L_Ankle_frameangvel" objtype="xbody" objname="L_Ankle"/>
290
- <frameangvel name="sensor_L_Toe_frameangvel" objtype="xbody" objname="L_Toe"/>
291
- <frameangvel name="sensor_R_Hip_frameangvel" objtype="xbody" objname="R_Hip"/>
292
- <frameangvel name="sensor_R_Knee_frameangvel" objtype="xbody" objname="R_Knee"/>
293
- <frameangvel name="sensor_R_Ankle_frameangvel" objtype="xbody" objname="R_Ankle"/>
294
- <frameangvel name="sensor_R_Toe_frameangvel" objtype="xbody" objname="R_Toe"/>
295
- <frameangvel name="sensor_Torso_frameangvel" objtype="xbody" objname="Torso"/>
296
- <frameangvel name="sensor_Spine_frameangvel" objtype="xbody" objname="Spine"/>
297
- <frameangvel name="sensor_Chest_frameangvel" objtype="xbody" objname="Chest"/>
298
- <frameangvel name="sensor_Neck_frameangvel" objtype="xbody" objname="Neck"/>
299
- <frameangvel name="sensor_Head_frameangvel" objtype="xbody" objname="Head"/>
300
- <frameangvel name="sensor_L_Thorax_frameangvel" objtype="xbody" objname="L_Thorax"/>
301
- <frameangvel name="sensor_L_Shoulder_frameangvel" objtype="xbody" objname="L_Shoulder"/>
302
- <frameangvel name="sensor_L_Elbow_frameangvel" objtype="xbody" objname="L_Elbow"/>
303
- <frameangvel name="sensor_L_Wrist_frameangvel" objtype="xbody" objname="L_Wrist"/>
304
- <frameangvel name="sensor_L_Hand_frameangvel" objtype="xbody" objname="L_Hand"/>
305
- <frameangvel name="sensor_R_Thorax_frameangvel" objtype="xbody" objname="R_Thorax"/>
306
- <frameangvel name="sensor_R_Shoulder_frameangvel" objtype="xbody" objname="R_Shoulder"/>
307
- <frameangvel name="sensor_R_Elbow_frameangvel" objtype="xbody" objname="R_Elbow"/>
308
- <frameangvel name="sensor_R_Wrist_frameangvel" objtype="xbody" objname="R_Wrist"/>
309
- <frameangvel name="sensor_R_Hand_frameangvel" objtype="xbody" objname="R_Hand"/>
310
- <subtreelinvel name="Chest_subtreelinvel" body="Chest"/>
311
- <gyro name="Pelvis_gyro" site="Pelvis"/>
312
- </sensor>
313
- </mujoco>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
mug_1/.DS_Store ADDED
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shadow_hand/LICENSE DELETED
@@ -1,205 +0,0 @@
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- Copyright 2022 Shadow Robot Company Ltd
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- Licensed under the Apache License, Version 2.0 (the "License");
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- you may not use this file except in compliance with the License.
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- You may obtain a copy of the License at
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- The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
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- These modifications included changes to the meshes and the URDF file itself.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
shadow_hand/README.md DELETED
@@ -1,13 +0,0 @@
1
- ### Modifications to URDF
2
-
3
- The initial `dae` meshes found in
4
- the [shadow hand repository](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/components/f_knuckle)
5
- were identical or very similar for the `f_knuckle`. As a result, we retained only one of these. The same process was
6
- applied to meshes of other parts, with duplicates being removed to enhance the clarity of the file structure.
7
-
8
- For the `distal` finger, we have only kept the `pst` version, which does not include the biotac sensor.
9
-
10
- In addition, we have increased the inertia for all fingertip links to resolve the position drive problem in SAPIEN and
11
- IsaacGym.
12
-
13
- Almost all meshes have been modified to improve visual quality and collision management.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
shadow_hand/bimanual.urdf DELETED
@@ -1,1893 +0,0 @@
1
- <?xml version="1.0" encoding="utf-8"?>
2
- <!--
3
- Software License Agreement (BSD License)
4
- Copyright © 2022 belongs to Shadow Robot Company Ltd.
5
- All rights reserved.
6
- Redistribution and use in source and binary forms, with or without modification,
7
- are permitted provided that the following conditions are met:
8
- 1. Redistributions of source code must retain the above copyright notice,
9
- this list of conditions and the following disclaimer.
10
- 2. Redistributions in binary form must reproduce the above copyright notice,
11
- this list of conditions and the following disclaimer in the documentation
12
- and/or other materials provided with the distribution.
13
- 3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
14
- may be used to endorse or promote products derived from this software without
15
- specific prior written permission.
16
- This software is provided by Shadow Robot Company Ltd "as is" and any express
17
- or implied warranties, including, but not limited to, the implied warranties of
18
- merchantability and fitness for a particular purpose are disclaimed. In no event
19
- shall the copyright holder be liable for any direct, indirect, incidental, special,
20
- exemplary, or consequential damages (including, but not limited to, procurement of
21
- substitute goods or services; loss of use, data, or profits; or business interruption)
22
- however caused and on any theory of liability, whether in contract, strict liability,
23
- or tort (including negligence or otherwise) arising in any way out of the use of this
24
- software, even if advised of the possibility of such damage.
25
- -->
26
- <robot name="bimanual_shadowhand_motor">
27
- <material name="Grey">
28
- <color rgba="0.2 0.2 0.2 1.0"/>
29
- </material>
30
- <material name="LightGrey">
31
- <color rgba="0.6 0.6 0.6 1.0"/>
32
- </material>
33
- <link name="world"/>
34
- <joint name="world_joint" type="fixed">
35
- <parent link="world"/>
36
- <child link="rh_forearm"/>
37
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
38
- </joint>
39
- <link name="rh_forearm">
40
- <inertial>
41
- <origin rpy="0 0 0" xyz="0 0 0.09"/>
42
- <mass value="3.0"/>
43
- <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744"/>
44
- </inertial>
45
- <visual>
46
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
47
- <geometry name="rh_forearm_visual">
48
- <mesh filename="meshes/visual/forearm/forearm_E3M5.dae" scale="0.001 0.001 0.001"/>
49
- </geometry>
50
- <material name="light_grey">
51
- <color rgba="0.90000 0.90000 0.90000 1.0"/>
52
- </material>
53
- </visual>
54
- <collision>
55
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
56
- <geometry name="rh_forearm_collision">
57
- <mesh filename="meshes/visual/forearm/forearm_collision_E3M5.dae" scale="0.001 0.001 0.001"/>
58
- </geometry>
59
- </collision>
60
- <!-- wrist mount -->
61
- <collision>
62
- <origin rpy="0 0.78 0" xyz="0 -0.01 0.181"/>
63
- <geometry>
64
- <box size="0.07 0.07 0.07"/>
65
- </geometry>
66
- </collision>
67
- <!-- TODO: Make a decision on whether to add the connector or not -->
68
- <!--visual>
69
- <origin rpy="0 -1.57 -1.57" xyz="0.0 0.067 0.0045"/>
70
- <geometry name="${prefix}cable_extr_visualisation">
71
- <mesh filename="meshes/visual/cable_connector/cable_connector_base_${hand_version}.dae" scale="0.001 0.001 0.001" />
72
- </geometry>
73
- </visual-->
74
- </link>
75
- <gazebo reference="rh_forearm">
76
- <selfCollide>false</selfCollide>
77
- </gazebo>
78
- <link name="rh_wrist">
79
- <inertial>
80
- <origin rpy="0 0 0" xyz="0 0 0.029"/>
81
- <mass value="0.1"/>
82
- <inertia ixx="0.000035" ixy="0.0" ixz="0.0" iyy="0.000064" iyz="0.0" izz="0.0000438"/>
83
- </inertial>
84
- <visual>
85
- <origin rpy="0 0 0" xyz="0 0 0"/>
86
- <geometry name="rh_wrist_visual">
87
- <mesh filename="meshes/visual/wrist/wrist_E3M5.dae" scale="0.001 0.001 0.001"/>
88
- </geometry>
89
- <material name="LightGrey"/>
90
- </visual>
91
- <collision>
92
- <origin rpy="1.5708 1.5708 0" xyz="0 0 0"/>
93
- <geometry name="rh_wrist_collision_geom">
94
- <cylinder length="0.030" radius="0.0135"/>
95
- </geometry>
96
- </collision>
97
- <collision>
98
- <origin rpy="0 1.5708 0" xyz="-0.026 0 0.034"/>
99
- <geometry>
100
- <cylinder length="0.010" radius="0.011"/>
101
- </geometry>
102
- </collision>
103
- <collision>
104
- <origin rpy="0 1.5708 0" xyz="0.031 0 0.034"/>
105
- <geometry>
106
- <cylinder length="0.010" radius="0.011"/>
107
- </geometry>
108
- </collision>
109
- <collision>
110
- <origin rpy="0 0.7854 0" xyz="-0.021 0 0.011"/>
111
- <geometry>
112
- <box size="0.027 0.018 0.010"/>
113
- </geometry>
114
- </collision>
115
- <collision>
116
- <origin rpy="0 -0.7854 0" xyz="0.026 0 0.010"/>
117
- <geometry>
118
- <box size="0.027 0.018 0.010"/>
119
- </geometry>
120
- </collision>
121
- </link>
122
- <joint name="rh_WRJ2" type="revolute">
123
- <parent link="rh_forearm"/>
124
- <child link="rh_wrist"/>
125
- <origin rpy="0 0 0" xyz="0 -0.010 0.21301"/>
126
- <axis xyz="0 1 0"/>
127
- <limit effort="10" lower="-0.523598775598" upper="0.174532925199" velocity="2.0"/>
128
- <dynamics damping="0.1"/>
129
- </joint>
130
- <link name="rh_palm">
131
- <inertial>
132
- <origin rpy="0 0 0" xyz="0 0 0.035"/>
133
- <mass value="0.3"/>
134
- <inertia ixx="0.0003581" ixy="0.0" ixz="0.0" iyy="0.0005287" iyz="0.0" izz="0.000191"/>
135
- </inertial>
136
- <visual>
137
- <origin rpy="0 0 0" xyz="0 0 0"/>
138
- <geometry name="rh_palm_visual">
139
- <mesh filename="meshes/visual/palm/palm_E3M5.dae" scale="0.001 0.001 0.001"/>
140
- </geometry>
141
- <material name="Grey"/>
142
- </visual>
143
- <collision>
144
- <origin rpy="0 0 0" xyz="0.011 0.0085 0.038"/>
145
- <geometry name="rh_palm_collision_geom">
146
- <box size="0.062 0.007 0.098"/>
147
- </geometry>
148
- </collision>
149
- <collision>
150
- <origin rpy="0 0 0" xyz="-0.002 -0.0035 0.038"/>
151
- <geometry>
152
- <box size="0.036 0.017 0.098"/>
153
- </geometry>
154
- </collision>
155
- <!-- palm complement below first finger -->
156
- <collision>
157
- <origin rpy="0 0 0" xyz="0.029 -0.0035 0.082"/>
158
- <geometry>
159
- <box size="0.026 0.017 0.010"/>
160
- </geometry>
161
- </collision>
162
- <collision>
163
- <origin rpy="0.2 0 0.25" xyz="0.0265 -0.001 0.070"/>
164
- <geometry>
165
- <box size="0.026 0.014 0.018"/>
166
- </geometry>
167
- </collision>
168
- <!-- thumb pulp side -->
169
- <collision>
170
- <origin rpy="0 0 0" xyz="0.0315 -0.0085 0.001"/>
171
- <geometry>
172
- <box size="0.021 0.027 0.024"/>
173
- </geometry>
174
- </collision>
175
- <!-- thumb pulp central -->
176
- <collision>
177
- <origin rpy="0 0 -0.48" xyz="0.0125 -0.015 0.009"/>
178
- <geometry>
179
- <box size="0.022 0.005 0.040"/>
180
- </geometry>
181
- </collision>
182
- <!-- above middle finger-->
183
- <collision>
184
- <origin rpy="0 0 0" xyz="0.011 0 0.089"/>
185
- <geometry>
186
- <box size="0.018 0.024 0.004"/>
187
- </geometry>
188
- </collision>
189
- <!-- metacarpal side-->
190
- <collision>
191
- <origin rpy="0 0 0" xyz="-0.03 0 0.009"/>
192
- <geometry>
193
- <box size="0.020 0.024 0.040"/>
194
- </geometry>
195
- </collision>
196
- </link>
197
- <joint name="rh_ee_fixed_joint" type="fixed">
198
- <parent link="rh_palm"/>
199
- <child link="rh_manipulator"/>
200
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.05"/>
201
- </joint>
202
- <link name="rh_manipulator"/>
203
- <joint name="rh_WRJ1" type="revolute">
204
- <parent link="rh_wrist"/>
205
- <child link="rh_palm"/>
206
- <origin rpy="0 0 0" xyz="0 0 0.034"/>
207
- <axis xyz="1 0 0"/>
208
- <limit effort="30" lower="-0.698131700798" upper="0.488692190558" velocity="2.0"/>
209
- <dynamics damping="0.1"/>
210
- </joint>
211
- <link name="rh_imu"/>
212
- <joint name="rh_palm_to_imu" type="fixed">
213
- <parent link="rh_palm"/>
214
- <child link="rh_imu"/>
215
- <origin rpy="-1.5707963 3.141592 0.0" xyz="0.01785 0.00765 0.049125"/>
216
- </joint>
217
- <link name="rh_ffknuckle">
218
- <inertial>
219
- <origin rpy="0 0 0" xyz="0 0 0"/>
220
- <mass value="0.008"/>
221
- <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
222
- </inertial>
223
- <visual>
224
- <origin rpy="0 0 0" xyz="0 0 0.0005"/>
225
- <geometry name="rh_ffknuckle_visual">
226
- <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
227
- </geometry>
228
- <material name="LightGrey"/>
229
- </visual>
230
- <collision>
231
- <origin rpy="0 1.5708 0" xyz="0 0 0"/>
232
- <geometry name="rh_ffknuckle_collision_geom">
233
- <cylinder length="0.014" radius="0.007"/>
234
- </geometry>
235
- </collision>
236
- </link>
237
- <joint name="rh_FFJ4" type="revolute">
238
- <parent link="rh_palm"/>
239
- <child link="rh_ffknuckle"/>
240
- <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
241
- <origin rpy="0 0 0" xyz="0.033 0 0.095"/>
242
- <axis xyz="0 -1 0"/>
243
- <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
244
- <dynamics damping="0.1"/>
245
- </joint>
246
- <link name="rh_ffproximal">
247
- <inertial>
248
- <mass value="0.030"/>
249
- <origin xyz="0 0 0.0225"/>
250
- <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
251
- </inertial>
252
- <visual>
253
- <origin rpy="0 0 0" xyz="0 0 0"/>
254
- <geometry name="rh_ffproximal_visual">
255
- <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
256
- </geometry>
257
- <material name="Grey"/>
258
- </visual>
259
- <collision>
260
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
261
- <geometry name="rh_ffproximal_collision_geom">
262
- <cylinder length="0.040" radius="0.007"/>
263
- </geometry>
264
- </collision>
265
- </link>
266
- <joint name="rh_FFJ3" type="revolute">
267
- <parent link="rh_ffknuckle"/>
268
- <child link="rh_ffproximal"/>
269
- <origin rpy="0 0 0" xyz="0 0 0"/>
270
- <axis xyz="1 0 0"/>
271
- <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
272
- <dynamics damping="0.1"/>
273
- </joint>
274
- <link name="rh_ffmiddle">
275
- <inertial>
276
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
277
- <mass value="0.017"/>
278
- <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
279
- </inertial>
280
- <visual>
281
- <origin rpy="0 0 0" xyz="0 0 0"/>
282
- <geometry name="rh_ffmiddle_visual">
283
- <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
284
- </geometry>
285
- <material name="Grey"/>
286
- </visual>
287
- <collision>
288
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
289
- <geometry name="rh_ffmiddle_collision_geom">
290
- <cylinder length="0.025" radius="0.007"/>
291
- </geometry>
292
- </collision>
293
- <collision>
294
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
295
- <geometry>
296
- <sphere radius="0.007"/>
297
- </geometry>
298
- </collision>
299
- <collision>
300
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
301
- <geometry>
302
- <sphere radius="0.007"/>
303
- </geometry>
304
- </collision>
305
- </link>
306
- <joint name="rh_FFJ2" type="revolute">
307
- <parent link="rh_ffproximal"/>
308
- <child link="rh_ffmiddle"/>
309
- <origin rpy="0 0 0" xyz="0 0 0.045"/>
310
- <axis xyz="1 0 0"/>
311
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
312
- <dynamics damping="0.1"/>
313
- </joint>
314
- <link name="rh_ffdistal">
315
- <inertial>
316
- <mass value="0.012"/>
317
- <origin xyz="0 0 0.012"/>
318
- <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
319
- </inertial>
320
- <visual>
321
- <origin rpy="0 0 0" xyz="0 0 0"/>
322
- <geometry name="rh_ffdistal_visual">
323
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
324
- </geometry>
325
- </visual>
326
- <collision>
327
- <origin rpy="0 0 0" xyz="0 0 0"/>
328
- <geometry name="rh_ffdistal_collision_geom">
329
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
330
- </geometry>
331
- </collision>
332
- </link>
333
- <joint name="rh_FFJ1" type="revolute">
334
- <parent link="rh_ffmiddle"/>
335
- <child link="rh_ffdistal"/>
336
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
337
- <axis xyz="1 0 0"/>
338
- <!-- standard distal joint -->
339
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
340
- <dynamics damping="0.1"/>
341
- </joint>
342
- <link name="rh_fftip">
343
- <inertial>
344
- <mass value="0.001"/>
345
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
346
- </inertial>
347
- </link>
348
- <joint name="rh_FFtip" type="fixed">
349
- <parent link="rh_ffdistal"/>
350
- <child link="rh_fftip"/>
351
- <origin rpy="0 0 0" xyz="0 0 0.026"/>
352
- </joint>
353
- <link name="rh_mfknuckle">
354
- <inertial>
355
- <origin rpy="0 0 0" xyz="0 0 0"/>
356
- <mass value="0.008"/>
357
- <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
358
- </inertial>
359
- <visual>
360
- <origin rpy="0 0 0" xyz="0 0 0.0005"/>
361
- <geometry name="rh_mfknuckle_visual">
362
- <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
363
- </geometry>
364
- <material name="LightGrey"/>
365
- </visual>
366
- <collision>
367
- <origin rpy="0 1.5708 0" xyz="0 0 0"/>
368
- <geometry name="rh_mfknuckle_collision_geom">
369
- <cylinder length="0.014" radius="0.007"/>
370
- </geometry>
371
- </collision>
372
- </link>
373
- <joint name="rh_MFJ4" type="revolute">
374
- <parent link="rh_palm"/>
375
- <child link="rh_mfknuckle"/>
376
- <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
377
- <origin rpy="0 0 0" xyz="0.011 0 0.099"/>
378
- <axis xyz="0 -1 0"/>
379
- <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
380
- <dynamics damping="0.1"/>
381
- </joint>
382
- <link name="rh_mfproximal">
383
- <inertial>
384
- <mass value="0.030"/>
385
- <origin xyz="0 0 0.0225"/>
386
- <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
387
- </inertial>
388
- <visual>
389
- <origin rpy="0 0 0" xyz="0 0 0"/>
390
- <geometry name="rh_mfproximal_visual">
391
- <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
392
- </geometry>
393
- <material name="Grey"/>
394
- </visual>
395
- <collision>
396
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
397
- <geometry name="rh_mfproximal_collision_geom">
398
- <cylinder length="0.040" radius="0.007"/>
399
- </geometry>
400
- </collision>
401
- </link>
402
- <joint name="rh_MFJ3" type="revolute">
403
- <parent link="rh_mfknuckle"/>
404
- <child link="rh_mfproximal"/>
405
- <origin rpy="0 0 0" xyz="0 0 0"/>
406
- <axis xyz="1 0 0"/>
407
- <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
408
- <dynamics damping="0.1"/>
409
- </joint>
410
- <link name="rh_mfmiddle">
411
- <inertial>
412
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
413
- <mass value="0.017"/>
414
- <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
415
- </inertial>
416
- <visual>
417
- <origin rpy="0 0 0" xyz="0 0 0"/>
418
- <geometry name="rh_mfmiddle_visual">
419
- <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
420
- </geometry>
421
- <material name="Grey"/>
422
- </visual>
423
- <collision>
424
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
425
- <geometry name="rh_mfmiddle_collision_geom">
426
- <cylinder length="0.025" radius="0.007"/>
427
- </geometry>
428
- </collision>
429
- <collision>
430
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
431
- <geometry>
432
- <sphere radius="0.007"/>
433
- </geometry>
434
- </collision>
435
- <collision>
436
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
437
- <geometry>
438
- <sphere radius="0.007"/>
439
- </geometry>
440
- </collision>
441
- </link>
442
- <joint name="rh_MFJ2" type="revolute">
443
- <parent link="rh_mfproximal"/>
444
- <child link="rh_mfmiddle"/>
445
- <origin rpy="0 0 0" xyz="0 0 0.045"/>
446
- <axis xyz="1 0 0"/>
447
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
448
- <dynamics damping="0.1"/>
449
- </joint>
450
- <link name="rh_mfdistal">
451
- <inertial>
452
- <mass value="0.012"/>
453
- <origin xyz="0 0 0.012"/>
454
- <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
455
- </inertial>
456
- <visual>
457
- <origin rpy="0 0 0" xyz="0 0 0"/>
458
- <geometry name="rh_mfdistal_visual">
459
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
460
- </geometry>
461
- </visual>
462
- <collision>
463
- <origin rpy="0 0 0" xyz="0 0 0"/>
464
- <geometry name="rh_mfdistal_collision_geom">
465
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
466
- </geometry>
467
- </collision>
468
- </link>
469
- <joint name="rh_MFJ1" type="revolute">
470
- <parent link="rh_mfmiddle"/>
471
- <child link="rh_mfdistal"/>
472
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
473
- <axis xyz="1 0 0"/>
474
- <!-- standard distal joint -->
475
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
476
- <dynamics damping="0.1"/>
477
- </joint>
478
- <gazebo reference="rh_MFJ1">
479
- <provideFeedback>1</provideFeedback>
480
- <implicitSpringDamper>1</implicitSpringDamper>
481
- </gazebo>
482
- <link name="rh_mftip">
483
- <inertial>
484
- <mass value="0.001"/>
485
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
486
- </inertial>
487
- </link>
488
- <joint name="rh_MFtip" type="fixed">
489
- <parent link="rh_mfdistal"/>
490
- <child link="rh_mftip"/>
491
- <origin rpy="0 0 0" xyz="0 0 0.026"/>
492
- </joint>
493
- <link name="rh_rfknuckle">
494
- <inertial>
495
- <origin rpy="0 0 0" xyz="0 0 0"/>
496
- <mass value="0.008"/>
497
- <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
498
- </inertial>
499
- <visual>
500
- <origin rpy="0 0 0" xyz="0 0 0.0005"/>
501
- <geometry name="rh_rfknuckle_visual">
502
- <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
503
- </geometry>
504
- <material name="LightGrey"/>
505
- </visual>
506
- <collision>
507
- <origin rpy="0 1.5708 0" xyz="0 0 0"/>
508
- <geometry name="rh_rfknuckle_collision_geom">
509
- <cylinder length="0.014" radius="0.007"/>
510
- </geometry>
511
- </collision>
512
- </link>
513
- <joint name="rh_RFJ4" type="revolute">
514
- <parent link="rh_palm"/>
515
- <child link="rh_rfknuckle"/>
516
- <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
517
- <origin rpy="0 0 0" xyz="-0.011 0 0.095"/>
518
- <axis xyz="0 1 0"/>
519
- <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
520
- <dynamics damping="0.1"/>
521
- </joint>
522
- <link name="rh_rfproximal">
523
- <inertial>
524
- <mass value="0.030"/>
525
- <origin xyz="0 0 0.0225"/>
526
- <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
527
- </inertial>
528
- <visual>
529
- <origin rpy="0 0 0" xyz="0 0 0"/>
530
- <geometry name="rh_rfproximal_visual">
531
- <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
532
- </geometry>
533
- <material name="Grey"/>
534
- </visual>
535
- <collision>
536
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
537
- <geometry name="rh_rfproximal_collision_geom">
538
- <cylinder length="0.040" radius="0.007"/>
539
- </geometry>
540
- </collision>
541
- </link>
542
- <joint name="rh_RFJ3" type="revolute">
543
- <parent link="rh_rfknuckle"/>
544
- <child link="rh_rfproximal"/>
545
- <origin rpy="0 0 0" xyz="0 0 0"/>
546
- <axis xyz="1 0 0"/>
547
- <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
548
- <dynamics damping="0.1"/>
549
- </joint>
550
- <link name="rh_rfmiddle">
551
- <inertial>
552
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
553
- <mass value="0.017"/>
554
- <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
555
- </inertial>
556
- <visual>
557
- <origin rpy="0 0 0" xyz="0 0 0"/>
558
- <geometry name="rh_rfmiddle_visual">
559
- <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
560
- </geometry>
561
- <material name="Grey"/>
562
- </visual>
563
- <collision>
564
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
565
- <geometry name="rh_rfmiddle_collision_geom">
566
- <cylinder length="0.025" radius="0.007"/>
567
- </geometry>
568
- </collision>
569
- <collision>
570
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
571
- <geometry>
572
- <sphere radius="0.007"/>
573
- </geometry>
574
- </collision>
575
- <collision>
576
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
577
- <geometry>
578
- <sphere radius="0.007"/>
579
- </geometry>
580
- </collision>
581
- </link>
582
- <joint name="rh_RFJ2" type="revolute">
583
- <parent link="rh_rfproximal"/>
584
- <child link="rh_rfmiddle"/>
585
- <origin rpy="0 0 0" xyz="0 0 0.045"/>
586
- <axis xyz="1 0 0"/>
587
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
588
- <dynamics damping="0.1"/>
589
- </joint>
590
- <link name="rh_rfdistal">
591
- <inertial>
592
- <mass value="0.012"/>
593
- <origin xyz="0 0 0.012"/>
594
- <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
595
- </inertial>
596
- <visual>
597
- <origin rpy="0 0 0" xyz="0 0 0"/>
598
- <geometry name="rh_rfdistal_visual">
599
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
600
- </geometry>
601
- </visual>
602
- <collision>
603
- <origin rpy="0 0 0" xyz="0 0 0"/>
604
- <geometry name="rh_rfdistal_collision_geom">
605
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
606
- </geometry>
607
- </collision>
608
- </link>
609
- <joint name="rh_RFJ1" type="revolute">
610
- <parent link="rh_rfmiddle"/>
611
- <child link="rh_rfdistal"/>
612
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
613
- <axis xyz="1 0 0"/>
614
- <!-- standard distal joint -->
615
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
616
- <dynamics damping="0.1"/>
617
- </joint>
618
- <link name="rh_rftip">
619
- <inertial>
620
- <mass value="0.001"/>
621
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
622
- </inertial>
623
- </link>
624
- <joint name="rh_RFtip" type="fixed">
625
- <parent link="rh_rfdistal"/>
626
- <child link="rh_rftip"/>
627
- <origin rpy="0 0 0" xyz="0 0 0.026"/>
628
- </joint>
629
- <link name="rh_lfmetacarpal">
630
- <inertial>
631
- <origin rpy="0 0.9599 0" xyz="0.0317486764706 0 0.0223529411765"/>
632
- <mass value="0.030"/>
633
- <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272"/>
634
- </inertial>
635
- <visual>
636
- <origin rpy="0 0.9599 0" xyz="0 0 0"/>
637
- <geometry name="rh_lfmetacarpal_visual">
638
- <mesh filename="meshes/visual/lf_metacarpal/lf_metacarpal_E3M5.dae" scale="0.001 0.001 0.001"/>
639
- </geometry>
640
- <material name="Grey"/>
641
- </visual>
642
- <collision>
643
- <origin rpy="0 0.9599 0" xyz="0.026986375 0 0.019"/>
644
- <geometry name="rh_lfmetacarpal_collision_geom">
645
- <box size="0.018 0.024 0.040"/>
646
- </geometry>
647
- </collision>
648
- </link>
649
- <joint name="rh_LFJ5" type="revolute">
650
- <parent link="rh_palm"/>
651
- <child link="rh_lfmetacarpal"/>
652
- <origin rpy="0 -0.9599 0" xyz="-0.033 0 0.02071"/>
653
- <axis xyz="1 0 0"/>
654
- <limit effort="2" lower="0" upper="0.785398163397" velocity="2.0"/>
655
- <dynamics damping="0.1"/>
656
- </joint>
657
- <link name="rh_lfknuckle">
658
- <inertial>
659
- <origin rpy="0 0 0" xyz="0 0 0"/>
660
- <mass value="0.008"/>
661
- <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
662
- </inertial>
663
- <visual>
664
- <origin rpy="0 0 0" xyz="0 0 0.0005"/>
665
- <geometry name="rh_lfknuckle_visual">
666
- <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
667
- </geometry>
668
- <material name="LightGrey"/>
669
- </visual>
670
- <collision>
671
- <origin rpy="0 1.5708 0" xyz="0 0 0"/>
672
- <geometry name="rh_lfknuckle_collision_geom">
673
- <cylinder length="0.014" radius="0.007"/>
674
- </geometry>
675
- </collision>
676
- </link>
677
- <joint name="rh_LFJ4" type="revolute">
678
- <parent link="rh_lfmetacarpal"/>
679
- <child link="rh_lfknuckle"/>
680
- <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
681
- <origin rpy="0 0.9599 0" xyz="0.05397275 0 0.03779463"/>
682
- <axis xyz="0 1 0"/>
683
- <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
684
- <dynamics damping="0.1"/>
685
- </joint>
686
- <link name="rh_lfproximal">
687
- <inertial>
688
- <mass value="0.030"/>
689
- <origin xyz="0 0 0.0225"/>
690
- <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
691
- </inertial>
692
- <visual>
693
- <origin rpy="0 0 0" xyz="0 0 0"/>
694
- <geometry name="rh_lfproximal_visual">
695
- <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
696
- </geometry>
697
- <material name="Grey"/>
698
- </visual>
699
- <collision>
700
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
701
- <geometry name="rh_lfproximal_collision_geom">
702
- <cylinder length="0.040" radius="0.007"/>
703
- </geometry>
704
- </collision>
705
- </link>
706
- <joint name="rh_LFJ3" type="revolute">
707
- <parent link="rh_lfknuckle"/>
708
- <child link="rh_lfproximal"/>
709
- <origin rpy="0 0 0" xyz="0 0 0"/>
710
- <axis xyz="1 0 0"/>
711
- <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
712
- <dynamics damping="0.1"/>
713
- </joint>
714
- <link name="rh_lfmiddle">
715
- <inertial>
716
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
717
- <mass value="0.017"/>
718
- <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
719
- </inertial>
720
- <visual>
721
- <origin rpy="0 0 0" xyz="0 0 0"/>
722
- <geometry name="rh_lfmiddle_visual">
723
- <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
724
- </geometry>
725
- <material name="Grey"/>
726
- </visual>
727
- <collision>
728
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
729
- <geometry name="rh_lfmiddle_collision_geom">
730
- <cylinder length="0.025" radius="0.007"/>
731
- </geometry>
732
- </collision>
733
- <collision>
734
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
735
- <geometry>
736
- <sphere radius="0.007"/>
737
- </geometry>
738
- </collision>
739
- <collision>
740
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
741
- <geometry>
742
- <sphere radius="0.007"/>
743
- </geometry>
744
- </collision>
745
- </link>
746
- <joint name="rh_LFJ2" type="revolute">
747
- <parent link="rh_lfproximal"/>
748
- <child link="rh_lfmiddle"/>
749
- <origin rpy="0 0 0" xyz="0 0 0.045"/>
750
- <axis xyz="1 0 0"/>
751
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
752
- <dynamics damping="0.1"/>
753
- </joint>
754
- <link name="rh_lfdistal">
755
- <inertial>
756
- <mass value="0.012"/>
757
- <origin xyz="0 0 0.012"/>
758
- <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
759
- </inertial>
760
- <visual>
761
- <origin rpy="0 0 0" xyz="0 0 0"/>
762
- <geometry name="rh_lfdistal_visual">
763
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
764
- </geometry>
765
- </visual>
766
- <collision>
767
- <origin rpy="0 0 0" xyz="0 0 0"/>
768
- <geometry name="rh_lfdistal_collision_geom">
769
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
770
- </geometry>
771
- </collision>
772
- </link>
773
- <joint name="rh_LFJ1" type="revolute">
774
- <parent link="rh_lfmiddle"/>
775
- <child link="rh_lfdistal"/>
776
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
777
- <axis xyz="1 0 0"/>
778
- <!-- standard distal joint -->
779
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
780
- <dynamics damping="0.1"/>
781
- </joint>
782
- <link name="rh_lftip">
783
- <inertial>
784
- <mass value="0.001"/>
785
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
786
- </inertial>
787
- </link>
788
- <joint name="rh_LFtip" type="fixed">
789
- <parent link="rh_lfdistal"/>
790
- <child link="rh_lftip"/>
791
- <origin rpy="0 0 0" xyz="0 0 0.026"/>
792
- </joint>
793
- <link name="rh_thbase">
794
- <inertial>
795
- <mass value="0.010"/>
796
- <origin rpy="0 0 0" xyz="0 0 0"/>
797
- <inertia ixx="0.00000016" ixy="0.0" ixz="0.0" iyy="0.00000016" iyz="0.0" izz="0.00000016"/>
798
- </inertial>
799
- <visual>
800
- <origin rpy="0 0 0" xyz="0 0 0"/>
801
- <geometry name="rh_thbase_visual">
802
- <box size="0.001 0.001 0.001"/>
803
- </geometry>
804
- <material name="shadow_thbase_material">
805
- <color rgba="0.5 0.5 0.5 1.0"/>
806
- </material>
807
- </visual>
808
- <collision>
809
- <origin rpy="0 0 0" xyz="0 0 0"/>
810
- <geometry name="rh_thbase_collision_geom">
811
- <sphere radius="0.011"/>
812
- </geometry>
813
- </collision>
814
- </link>
815
- <joint name="rh_THJ5" type="revolute">
816
- <parent link="rh_palm"/>
817
- <child link="rh_thbase"/>
818
- <origin rpy="-0.785398163397 0 -1.57079632679" xyz="0.034 -0.00858 0.029"/>
819
- <axis xyz="0 0 -1"/>
820
- <limit effort="5.0" lower="-1.0471975512" upper="1.0471975512" velocity="4.0"/>
821
- <dynamics damping="0.2"/>
822
- </joint>
823
- <link name="rh_thproximal">
824
- <inertial>
825
- <mass value="0.040"/>
826
- <origin rpy="0 0 0" xyz="0 0 0.019"/>
827
- <inertia ixx="0.0000136" ixy="0.0" ixz="0.0" iyy="0.0000136" iyz="0.0" izz="0.00000313"/>
828
- </inertial>
829
- <visual>
830
- <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
831
- <geometry name="rh_thproximal_visual">
832
- <mesh filename="meshes/visual/th_proximal/th_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
833
- </geometry>
834
- <material name="shadow_thproximal_material">
835
- <color rgba="0.2 0.2 0.2 1.0"/>
836
- </material>
837
- </visual>
838
- <collision>
839
- <origin rpy="0 0 0" xyz="0 0 0.020"/>
840
- <geometry name="rh_thproximal_collision_geom">
841
- <cylinder length="0.018" radius="0.012"/>
842
- </geometry>
843
- </collision>
844
- </link>
845
- <joint name="rh_THJ4" type="revolute">
846
- <parent link="rh_thbase"/>
847
- <child link="rh_thproximal"/>
848
- <origin rpy="0 0 0" xyz="0 0 0"/>
849
- <axis xyz="0 1 0"/>
850
- <limit effort="3" lower="0.0" upper="1.2217304764" velocity="4.0"/>
851
- <dynamics damping="0.2"/>
852
- </joint>
853
- <link name="rh_thhub">
854
- <inertial>
855
- <mass value="0.005"/>
856
- <origin rpy="0 0 0" xyz="0 0 0"/>
857
- <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.0000003"/>
858
- </inertial>
859
- <visual>
860
- <origin rpy="0 0 0" xyz="0 0 0"/>
861
- <geometry name="rh_thhub_visual">
862
- <box size="0.001 0.001 0.001"/>
863
- </geometry>
864
- <material name="shadow_thhub_material">
865
- <color rgba="0.7 0.7 0.7 1.0"/>
866
- </material>
867
- </visual>
868
- <collision>
869
- <origin rpy="0 0 0" xyz="0 0 0"/>
870
- <geometry name="rh_thhub_collision_geom">
871
- <sphere radius="0.010"/>
872
- </geometry>
873
- </collision>
874
- </link>
875
- <joint name="rh_THJ3" type="revolute">
876
- <parent link="rh_thproximal"/>
877
- <child link="rh_thhub"/>
878
- <origin rpy="0 0 0" xyz="0 0 0.038"/>
879
- <axis xyz="0 1 0"/>
880
- <limit effort="2.0" lower="-0.209439510239" upper="0.209439510239" velocity="4.0"/>
881
- <dynamics damping="0.2"/>
882
- </joint>
883
- <link name="rh_thmiddle">
884
- <inertial>
885
- <mass value="0.020"/>
886
- <origin rpy="0 0 0" xyz="0 0 0.016"/>
887
- <inertia ixx="0.0000051" ixy="0.0" ixz="0.0" iyy="0.0000051" iyz="0.0" izz="0.00000121"/>
888
- </inertial>
889
- <visual>
890
- <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
891
- <geometry name="rh_thmiddle_visual">
892
- <mesh filename="meshes/visual/th_middle/th_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
893
- </geometry>
894
- <material name="shadow_thmiddle_material">
895
- <color rgba="0.2 0.2 0.2 1.0"/>
896
- </material>
897
- </visual>
898
- <collision>
899
- <origin rpy="0 0 0" xyz="0 0 0.012"/>
900
- <geometry name="rh_thmiddle_collision_geom">
901
- <cylinder length="0.018" radius="0.011"/>
902
- </geometry>
903
- </collision>
904
- <collision>
905
- <origin rpy="0 0 0" xyz="0 0 0.019"/>
906
- <geometry>
907
- <sphere radius="0.011"/>
908
- </geometry>
909
- </collision>
910
- <collision>
911
- <origin rpy="0 1.5708 0" xyz="0 0 0.032"/>
912
- <geometry>
913
- <cylinder length="0.014" radius="0.010"/>
914
- </geometry>
915
- </collision>
916
- </link>
917
- <joint name="rh_THJ2" type="revolute">
918
- <parent link="rh_thhub"/>
919
- <child link="rh_thmiddle"/>
920
- <origin rpy="0 0 0" xyz="0 0 0"/>
921
- <axis xyz="1 0 0"/>
922
- <limit effort="2.0" lower="-0.698131700798" upper="0.698131700798" velocity="2.0"/>
923
- <dynamics damping="0.1"/>
924
- </joint>
925
- <!-- common -->
926
- <link name="rh_thdistal">
927
- <inertial>
928
- <mass value="0.016"/>
929
- <origin rpy="0 0 0" xyz="0 0 0.01375"/>
930
- <inertia ixx="0.0000021" ixy="0.0" ixz="0.0" iyy="0.0000022" iyz="0.0" izz="0.000001"/>
931
- </inertial>
932
- <visual>
933
- <origin rpy="0 0 0" xyz="0 0 0"/>
934
- <geometry name="rh_thdistal_visual">
935
- <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
936
- </geometry>
937
- <material name="shadow_thmiddle_material">
938
- <color rgba="0.2 0.2 0.2 1.0"/>
939
- </material>
940
- </visual>
941
- <collision>
942
- <origin rpy="0 0 0" xyz="0 0 0"/>
943
- <geometry name="rh_thmiddle_collision_geom">
944
- <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
945
- </geometry>
946
- </collision>
947
- </link>
948
- <joint name="rh_THJ1" type="revolute">
949
- <parent link="rh_thmiddle"/>
950
- <child link="rh_thdistal"/>
951
- <origin rpy="0 0 0" xyz="0 0 0.032"/>
952
- <axis xyz="1 0 0"/>
953
- <limit effort="1.0" lower="-0.261799387799" upper="1.57079632679" velocity="4.0"/>
954
- <dynamics damping="0.2"/>
955
- </joint>
956
- <link name="rh_thtip">
957
- <inertial>
958
- <mass value="0.001"/>
959
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
960
- </inertial>
961
- </link>
962
- <joint name="rh_thtip" type="fixed">
963
- <parent link="rh_thdistal"/>
964
- <child link="rh_thtip"/>
965
- <origin rpy="0 0 0" xyz="0 0 0.0275"/>
966
- </joint>
967
- <link name="lh_forearm">
968
- <inertial>
969
- <origin rpy="0 0 0" xyz="0 0 0.09"/>
970
- <mass value="3.0"/>
971
- <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744"/>
972
- </inertial>
973
- <visual>
974
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
975
- <geometry name="lh_forearm_visual">
976
- <mesh filename="meshes/visual/forearm/forearm_E3M5.dae" scale="0.001 0.001 0.001"/>
977
- </geometry>
978
- <material name="light_grey">
979
- <color rgba="0.90000 0.90000 0.90000 1.0"/>
980
- </material>
981
- </visual>
982
- <collision>
983
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
984
- <geometry name="lh_forearm_collision">
985
- <mesh filename="meshes/visual/forearm/forearm_collision_E3M5.dae" scale="0.001 0.001 0.001"/>
986
- </geometry>
987
- </collision>
988
- <!-- wrist mount -->
989
- <collision>
990
- <origin rpy="0 0.78 0" xyz="0 -0.01 0.181"/>
991
- <geometry>
992
- <box size="0.07 0.07 0.07"/>
993
- </geometry>
994
- </collision>
995
- <!-- TODO: Make a decision on whether to add the connector or not -->
996
- <!--visual>
997
- <origin rpy="0 -1.57 -1.57" xyz="0.0 0.067 0.0045"/>
998
- <geometry name="${prefix}cable_extr_visualisation">
999
- <mesh filename="meshes/visual/cable_connector/cable_connector_base_${hand_version}.dae" scale="0.001 0.001 0.001" />
1000
- </geometry>
1001
- </visual-->
1002
- </link>
1003
- <link name="lh_wrist">
1004
- <inertial>
1005
- <origin rpy="0 0 0" xyz="0 0 0.029"/>
1006
- <mass value="0.1"/>
1007
- <inertia ixx="0.000035" ixy="0.0" ixz="0.0" iyy="0.000064" iyz="0.0" izz="0.0000438"/>
1008
- </inertial>
1009
- <visual>
1010
- <origin rpy="0 0 0" xyz="0 0 0"/>
1011
- <geometry name="lh_wrist_visual">
1012
- <mesh filename="meshes/visual/wrist/wrist_E3M5.dae" scale="-0.001 0.001 0.001"/>
1013
- </geometry>
1014
- <material name="LightGrey"/>
1015
- </visual>
1016
- <collision>
1017
- <origin rpy="1.5708 1.5708 0" xyz="0 0 0"/>
1018
- <geometry name="lh_wrist_collision_geom">
1019
- <cylinder length="0.030" radius="0.0135"/>
1020
- </geometry>
1021
- </collision>
1022
- <collision>
1023
- <origin rpy="0 1.5708 0" xyz="0.026 0 0.034"/>
1024
- <geometry>
1025
- <cylinder length="0.010" radius="0.011"/>
1026
- </geometry>
1027
- </collision>
1028
- <collision>
1029
- <origin rpy="0 1.5708 0" xyz="-0.031 0 0.034"/>
1030
- <geometry>
1031
- <cylinder length="0.010" radius="0.011"/>
1032
- </geometry>
1033
- </collision>
1034
- <collision>
1035
- <origin rpy="0 -0.7854 0" xyz="0.021 0 0.011"/>
1036
- <geometry>
1037
- <box size="0.027 0.018 0.010"/>
1038
- </geometry>
1039
- </collision>
1040
- <collision>
1041
- <origin rpy="0 0.7854 0" xyz="-0.026 0 0.010"/>
1042
- <geometry>
1043
- <box size="0.027 0.018 0.010"/>
1044
- </geometry>
1045
- </collision>
1046
- </link>
1047
- <joint name="lh_WRJ2" type="revolute">
1048
- <parent link="lh_forearm"/>
1049
- <child link="lh_wrist"/>
1050
- <origin rpy="0 0 0" xyz="0 -0.010 0.21301"/>
1051
- <axis xyz="0 -1 0"/>
1052
- <limit effort="10" lower="-0.523598775598" upper="0.174532925199" velocity="2.0"/>
1053
- <dynamics damping="0.1"/>
1054
- </joint>
1055
- <link name="lh_palm">
1056
- <inertial>
1057
- <origin rpy="0 0 0" xyz="0 0 0.035"/>
1058
- <mass value="0.3"/>
1059
- <inertia ixx="0.0003581" ixy="0.0" ixz="0.0" iyy="0.0005287" iyz="0.0" izz="0.000191"/>
1060
- </inertial>
1061
- <visual>
1062
- <origin rpy="0 0 0" xyz="0 0 0"/>
1063
- <geometry name="lh_palm_visual">
1064
- <mesh filename="meshes/visual/palm/palm_E3M5.dae" scale="-0.001 0.001 0.001"/>
1065
- </geometry>
1066
- <material name="Grey"/>
1067
- </visual>
1068
- <collision>
1069
- <origin rpy="0 0 0" xyz="-0.011 0.0085 0.038"/>
1070
- <geometry name="lh_palm_collision_geom">
1071
- <box size="0.062 0.007 0.098"/>
1072
- </geometry>
1073
- </collision>
1074
- <collision>
1075
- <origin rpy="0 0 0" xyz="0.002 -0.0035 0.038"/>
1076
- <geometry>
1077
- <box size="0.036 0.017 0.098"/>
1078
- </geometry>
1079
- </collision>
1080
- <!-- palm complement below first finger -->
1081
- <collision>
1082
- <origin rpy="0 0 0" xyz="-0.029 -0.0035 0.082"/>
1083
- <geometry>
1084
- <box size="0.026 0.017 0.010"/>
1085
- </geometry>
1086
- </collision>
1087
- <collision>
1088
- <origin rpy="0.2 0 -0.25" xyz="-0.0265 -0.001 0.070"/>
1089
- <geometry>
1090
- <box size="0.026 0.014 0.018"/>
1091
- </geometry>
1092
- </collision>
1093
- <!-- thumb pulp side -->
1094
- <collision>
1095
- <origin rpy="0 0 0" xyz="-0.0315 -0.0085 0.001"/>
1096
- <geometry>
1097
- <box size="0.021 0.027 0.024"/>
1098
- </geometry>
1099
- </collision>
1100
- <!-- thumb pulp central -->
1101
- <collision>
1102
- <origin rpy="0 0 0.48" xyz="-0.0125 -0.015 0.009"/>
1103
- <geometry>
1104
- <box size="0.022 0.005 0.040"/>
1105
- </geometry>
1106
- </collision>
1107
- <!-- above middle finger-->
1108
- <collision>
1109
- <origin rpy="0 0 0" xyz="-0.011 0 0.089"/>
1110
- <geometry>
1111
- <box size="0.018 0.024 0.004"/>
1112
- </geometry>
1113
- </collision>
1114
- <!-- metacarpal side-->
1115
- <collision>
1116
- <origin rpy="0 0 0" xyz="0.03 0 0.009"/>
1117
- <geometry>
1118
- <box size="0.020 0.024 0.040"/>
1119
- </geometry>
1120
- </collision>
1121
- </link>
1122
- <joint name="lh_ee_fixed_joint" type="fixed">
1123
- <parent link="lh_palm"/>
1124
- <child link="lh_manipulator"/>
1125
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.05"/>
1126
- </joint>
1127
- <link name="lh_manipulator"/>
1128
- <joint name="lh_WRJ1" type="revolute">
1129
- <parent link="lh_wrist"/>
1130
- <child link="lh_palm"/>
1131
- <origin rpy="0 0 0" xyz="0 0 0.034"/>
1132
- <axis xyz="1 0 0"/>
1133
- <limit effort="30" lower="-0.698131700798" upper="0.488692190558" velocity="2.0"/>
1134
- <dynamics damping="0.1"/>
1135
- </joint>
1136
- <link name="lh_imu"/>
1137
- <joint name="lh_palm_to_imu" type="fixed">
1138
- <parent link="lh_palm"/>
1139
- <child link="lh_imu"/>
1140
- <origin rpy="-1.5707963 3.141592 0.0" xyz="0.01785 0.00765 0.049125"/>
1141
- </joint>
1142
- <link name="lh_ffknuckle">
1143
- <inertial>
1144
- <origin rpy="0 0 0" xyz="0 0 0"/>
1145
- <mass value="0.008"/>
1146
- <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
1147
- </inertial>
1148
- <visual>
1149
- <origin rpy="0 0 0" xyz="0 0 0.0005"/>
1150
- <geometry name="lh_ffknuckle_visual">
1151
- <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
1152
- </geometry>
1153
- <material name="LightGrey"/>
1154
- </visual>
1155
- <collision>
1156
- <origin rpy="0 1.5708 0" xyz="0 0 0"/>
1157
- <geometry name="lh_ffknuckle_collision_geom">
1158
- <cylinder length="0.014" radius="0.007"/>
1159
- </geometry>
1160
- </collision>
1161
- </link>
1162
- <joint name="lh_FFJ4" type="revolute">
1163
- <parent link="lh_palm"/>
1164
- <child link="lh_ffknuckle"/>
1165
- <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
1166
- <origin rpy="0 0 0" xyz="-0.033 0 0.095"/>
1167
- <axis xyz="0 1 0"/>
1168
- <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
1169
- <dynamics damping="0.1"/>
1170
- </joint>
1171
- <link name="lh_ffproximal">
1172
- <inertial>
1173
- <mass value="0.030"/>
1174
- <origin xyz="0 0 0.0225"/>
1175
- <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
1176
- </inertial>
1177
- <visual>
1178
- <origin rpy="0 0 0" xyz="0 0 0"/>
1179
- <geometry name="lh_ffproximal_visual">
1180
- <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
1181
- </geometry>
1182
- <material name="Grey"/>
1183
- </visual>
1184
- <collision>
1185
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1186
- <geometry name="lh_ffproximal_collision_geom">
1187
- <cylinder length="0.040" radius="0.007"/>
1188
- </geometry>
1189
- </collision>
1190
- </link>
1191
- <joint name="lh_FFJ3" type="revolute">
1192
- <parent link="lh_ffknuckle"/>
1193
- <child link="lh_ffproximal"/>
1194
- <origin rpy="0 0 0" xyz="0 0 0"/>
1195
- <axis xyz="1 0 0"/>
1196
- <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
1197
- <dynamics damping="0.1"/>
1198
- </joint>
1199
- <link name="lh_ffmiddle">
1200
- <inertial>
1201
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
1202
- <mass value="0.017"/>
1203
- <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
1204
- </inertial>
1205
- <visual>
1206
- <origin rpy="0 0 0" xyz="0 0 0"/>
1207
- <geometry name="lh_ffmiddle_visual">
1208
- <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
1209
- </geometry>
1210
- <material name="Grey"/>
1211
- </visual>
1212
- <collision>
1213
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
1214
- <geometry name="lh_ffmiddle_collision_geom">
1215
- <cylinder length="0.025" radius="0.007"/>
1216
- </geometry>
1217
- </collision>
1218
- <collision>
1219
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
1220
- <geometry>
1221
- <sphere radius="0.007"/>
1222
- </geometry>
1223
- </collision>
1224
- <collision>
1225
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1226
- <geometry>
1227
- <sphere radius="0.007"/>
1228
- </geometry>
1229
- </collision>
1230
- </link>
1231
- <joint name="lh_FFJ2" type="revolute">
1232
- <parent link="lh_ffproximal"/>
1233
- <child link="lh_ffmiddle"/>
1234
- <origin rpy="0 0 0" xyz="0 0 0.045"/>
1235
- <axis xyz="1 0 0"/>
1236
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
1237
- <dynamics damping="0.1"/>
1238
- </joint>
1239
- <link name="lh_ffdistal">
1240
- <inertial>
1241
- <mass value="0.012"/>
1242
- <origin xyz="0 0 0.012"/>
1243
- <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
1244
- </inertial>
1245
- <visual>
1246
- <origin rpy="0 0 0" xyz="0 0 0"/>
1247
- <geometry name="lh_ffdistal_visual">
1248
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
1249
- </geometry>
1250
- </visual>
1251
- <collision>
1252
- <origin rpy="0 0 0" xyz="0 0 0"/>
1253
- <geometry name="lh_ffdistal_collision_geom">
1254
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
1255
- </geometry>
1256
- </collision>
1257
- </link>
1258
- <joint name="lh_FFJ1" type="revolute">
1259
- <parent link="lh_ffmiddle"/>
1260
- <child link="lh_ffdistal"/>
1261
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1262
- <axis xyz="1 0 0"/>
1263
- <!-- standard distal joint -->
1264
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
1265
- <dynamics damping="0.1"/>
1266
- </joint>
1267
- <link name="lh_fftip">
1268
- <inertial>
1269
- <mass value="0.001"/>
1270
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
1271
- </inertial>
1272
- </link>
1273
- <joint name="lh_FFtip" type="fixed">
1274
- <parent link="lh_ffdistal"/>
1275
- <child link="lh_fftip"/>
1276
- <origin rpy="0 0 0" xyz="0 0 0.026"/>
1277
- </joint>
1278
- <link name="lh_mfknuckle">
1279
- <inertial>
1280
- <origin rpy="0 0 0" xyz="0 0 0"/>
1281
- <mass value="0.008"/>
1282
- <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
1283
- </inertial>
1284
- <visual>
1285
- <origin rpy="0 0 0" xyz="0 0 0.0005"/>
1286
- <geometry name="lh_mfknuckle_visual">
1287
- <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
1288
- </geometry>
1289
- <material name="LightGrey"/>
1290
- </visual>
1291
- <collision>
1292
- <origin rpy="0 1.5708 0" xyz="0 0 0"/>
1293
- <geometry name="lh_mfknuckle_collision_geom">
1294
- <cylinder length="0.014" radius="0.007"/>
1295
- </geometry>
1296
- </collision>
1297
- </link>
1298
- <joint name="lh_MFJ4" type="revolute">
1299
- <parent link="lh_palm"/>
1300
- <child link="lh_mfknuckle"/>
1301
- <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
1302
- <origin rpy="0 0 0" xyz="-0.011 0 0.099"/>
1303
- <axis xyz="0 1 0"/>
1304
- <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
1305
- <dynamics damping="0.1"/>
1306
- </joint>
1307
- <link name="lh_mfproximal">
1308
- <inertial>
1309
- <mass value="0.030"/>
1310
- <origin xyz="0 0 0.0225"/>
1311
- <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
1312
- </inertial>
1313
- <visual>
1314
- <origin rpy="0 0 0" xyz="0 0 0"/>
1315
- <geometry name="lh_mfproximal_visual">
1316
- <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
1317
- </geometry>
1318
- <material name="Grey"/>
1319
- </visual>
1320
- <collision>
1321
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1322
- <geometry name="lh_mfproximal_collision_geom">
1323
- <cylinder length="0.040" radius="0.007"/>
1324
- </geometry>
1325
- </collision>
1326
- </link>
1327
- <joint name="lh_MFJ3" type="revolute">
1328
- <parent link="lh_mfknuckle"/>
1329
- <child link="lh_mfproximal"/>
1330
- <origin rpy="0 0 0" xyz="0 0 0"/>
1331
- <axis xyz="1 0 0"/>
1332
- <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
1333
- <dynamics damping="0.1"/>
1334
- </joint>
1335
- <link name="lh_mfmiddle">
1336
- <inertial>
1337
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
1338
- <mass value="0.017"/>
1339
- <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
1340
- </inertial>
1341
- <visual>
1342
- <origin rpy="0 0 0" xyz="0 0 0"/>
1343
- <geometry name="lh_mfmiddle_visual">
1344
- <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
1345
- </geometry>
1346
- <material name="Grey"/>
1347
- </visual>
1348
- <collision>
1349
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
1350
- <geometry name="lh_mfmiddle_collision_geom">
1351
- <cylinder length="0.025" radius="0.007"/>
1352
- </geometry>
1353
- </collision>
1354
- <collision>
1355
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
1356
- <geometry>
1357
- <sphere radius="0.007"/>
1358
- </geometry>
1359
- </collision>
1360
- <collision>
1361
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1362
- <geometry>
1363
- <sphere radius="0.007"/>
1364
- </geometry>
1365
- </collision>
1366
- </link>
1367
- <joint name="lh_MFJ2" type="revolute">
1368
- <parent link="lh_mfproximal"/>
1369
- <child link="lh_mfmiddle"/>
1370
- <origin rpy="0 0 0" xyz="0 0 0.045"/>
1371
- <axis xyz="1 0 0"/>
1372
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
1373
- <dynamics damping="0.1"/>
1374
- </joint>
1375
- <link name="lh_mfdistal">
1376
- <inertial>
1377
- <mass value="0.012"/>
1378
- <origin xyz="0 0 0.012"/>
1379
- <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
1380
- </inertial>
1381
- <visual>
1382
- <origin rpy="0 0 0" xyz="0 0 0"/>
1383
- <geometry name="lh_mfdistal_visual">
1384
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
1385
- </geometry>
1386
- </visual>
1387
- <collision>
1388
- <origin rpy="0 0 0" xyz="0 0 0"/>
1389
- <geometry name="lh_mfdistal_collision_geom">
1390
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
1391
- </geometry>
1392
- </collision>
1393
- </link>
1394
- <joint name="lh_MFJ1" type="revolute">
1395
- <parent link="lh_mfmiddle"/>
1396
- <child link="lh_mfdistal"/>
1397
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1398
- <axis xyz="1 0 0"/>
1399
- <!-- standard distal joint -->
1400
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
1401
- <dynamics damping="0.1"/>
1402
- </joint>
1403
- <link name="lh_mftip">
1404
- <inertial>
1405
- <mass value="0.001"/>
1406
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
1407
- </inertial>
1408
- </link>
1409
- <joint name="lh_MFtip" type="fixed">
1410
- <parent link="lh_mfdistal"/>
1411
- <child link="lh_mftip"/>
1412
- <origin rpy="0 0 0" xyz="0 0 0.026"/>
1413
- </joint>
1414
- <link name="lh_rfknuckle">
1415
- <inertial>
1416
- <origin rpy="0 0 0" xyz="0 0 0"/>
1417
- <mass value="0.008"/>
1418
- <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
1419
- </inertial>
1420
- <visual>
1421
- <origin rpy="0 0 0" xyz="0 0 0.0005"/>
1422
- <geometry name="lh_rfknuckle_visual">
1423
- <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
1424
- </geometry>
1425
- <material name="LightGrey"/>
1426
- </visual>
1427
- <collision>
1428
- <origin rpy="0 1.5708 0" xyz="0 0 0"/>
1429
- <geometry name="lh_rfknuckle_collision_geom">
1430
- <cylinder length="0.014" radius="0.007"/>
1431
- </geometry>
1432
- </collision>
1433
- </link>
1434
- <joint name="lh_RFJ4" type="revolute">
1435
- <parent link="lh_palm"/>
1436
- <child link="lh_rfknuckle"/>
1437
- <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
1438
- <origin rpy="0 0 0" xyz="0.011 0 0.095"/>
1439
- <axis xyz="0 -1 0"/>
1440
- <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
1441
- <dynamics damping="0.1"/>
1442
- </joint>
1443
- <link name="lh_rfproximal">
1444
- <inertial>
1445
- <mass value="0.030"/>
1446
- <origin xyz="0 0 0.0225"/>
1447
- <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
1448
- </inertial>
1449
- <visual>
1450
- <origin rpy="0 0 0" xyz="0 0 0"/>
1451
- <geometry name="lh_rfproximal_visual">
1452
- <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
1453
- </geometry>
1454
- <material name="Grey"/>
1455
- </visual>
1456
- <collision>
1457
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1458
- <geometry name="lh_rfproximal_collision_geom">
1459
- <cylinder length="0.040" radius="0.007"/>
1460
- </geometry>
1461
- </collision>
1462
- </link>
1463
- <joint name="lh_RFJ3" type="revolute">
1464
- <parent link="lh_rfknuckle"/>
1465
- <child link="lh_rfproximal"/>
1466
- <origin rpy="0 0 0" xyz="0 0 0"/>
1467
- <axis xyz="1 0 0"/>
1468
- <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
1469
- <dynamics damping="0.1"/>
1470
- </joint>
1471
- <link name="lh_rfmiddle">
1472
- <inertial>
1473
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
1474
- <mass value="0.017"/>
1475
- <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
1476
- </inertial>
1477
- <visual>
1478
- <origin rpy="0 0 0" xyz="0 0 0"/>
1479
- <geometry name="lh_rfmiddle_visual">
1480
- <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
1481
- </geometry>
1482
- <material name="Grey"/>
1483
- </visual>
1484
- <collision>
1485
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
1486
- <geometry name="lh_rfmiddle_collision_geom">
1487
- <cylinder length="0.025" radius="0.007"/>
1488
- </geometry>
1489
- </collision>
1490
- <collision>
1491
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
1492
- <geometry>
1493
- <sphere radius="0.007"/>
1494
- </geometry>
1495
- </collision>
1496
- <collision>
1497
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1498
- <geometry>
1499
- <sphere radius="0.007"/>
1500
- </geometry>
1501
- </collision>
1502
- </link>
1503
- <joint name="lh_RFJ2" type="revolute">
1504
- <parent link="lh_rfproximal"/>
1505
- <child link="lh_rfmiddle"/>
1506
- <origin rpy="0 0 0" xyz="0 0 0.045"/>
1507
- <axis xyz="1 0 0"/>
1508
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
1509
- <dynamics damping="0.1"/>
1510
- </joint>
1511
- <link name="lh_rfdistal">
1512
- <inertial>
1513
- <mass value="0.012"/>
1514
- <origin xyz="0 0 0.012"/>
1515
- <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
1516
- </inertial>
1517
- <visual>
1518
- <origin rpy="0 0 0" xyz="0 0 0"/>
1519
- <geometry name="lh_rfdistal_visual">
1520
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
1521
- </geometry>
1522
- </visual>
1523
- <collision>
1524
- <origin rpy="0 0 0" xyz="0 0 0"/>
1525
- <geometry name="lh_rfdistal_collision_geom">
1526
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
1527
- </geometry>
1528
- </collision>
1529
- </link>
1530
- <joint name="lh_RFJ1" type="revolute">
1531
- <parent link="lh_rfmiddle"/>
1532
- <child link="lh_rfdistal"/>
1533
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1534
- <axis xyz="1 0 0"/>
1535
- <!-- standard distal joint -->
1536
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
1537
- <dynamics damping="0.1"/>
1538
- </joint>
1539
- <link name="lh_rftip">
1540
- <inertial>
1541
- <mass value="0.001"/>
1542
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
1543
- </inertial>
1544
- </link>
1545
- <joint name="lh_RFtip" type="fixed">
1546
- <parent link="lh_rfdistal"/>
1547
- <child link="lh_rftip"/>
1548
- <origin rpy="0 0 0" xyz="0 0 0.026"/>
1549
- </joint>
1550
- <link name="lh_lfmetacarpal">
1551
- <inertial>
1552
- <origin rpy="0 -0.9599 0" xyz="-0.0317486764706 0 0.0223529411765"/>
1553
- <mass value="0.030"/>
1554
- <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272"/>
1555
- </inertial>
1556
- <visual>
1557
- <origin rpy="0 -0.9599 0" xyz="0 0 0"/>
1558
- <geometry name="lh_lfmetacarpal_visual">
1559
- <mesh filename="meshes/visual/lf_metacarpal/lf_metacarpal_E3M5.dae" scale="-0.001 0.001 0.001"/>
1560
- </geometry>
1561
- <material name="Grey"/>
1562
- </visual>
1563
- <collision>
1564
- <origin rpy="0 -0.9599 0" xyz="-0.026986375 0 0.019"/>
1565
- <geometry name="lh_lfmetacarpal_collision_geom">
1566
- <box size="0.018 0.024 0.040"/>
1567
- </geometry>
1568
- </collision>
1569
- </link>
1570
- <joint name="lh_LFJ5" type="revolute">
1571
- <parent link="lh_palm"/>
1572
- <child link="lh_lfmetacarpal"/>
1573
- <origin rpy="0 0.9599 0" xyz="0.033 0 0.02071"/>
1574
- <axis xyz="1 0 0"/>
1575
- <limit effort="2" lower="0" upper="0.785398163397" velocity="2.0"/>
1576
- <dynamics damping="0.1"/>
1577
- </joint>
1578
- <link name="lh_lfknuckle">
1579
- <inertial>
1580
- <origin rpy="0 0 0" xyz="0 0 0"/>
1581
- <mass value="0.008"/>
1582
- <inertia ixx="0.00000026" ixy="0.0" ixz="0.0" iyy="0.00000026" iyz="0.0" izz="0.00000032"/>
1583
- </inertial>
1584
- <visual>
1585
- <origin rpy="0 0 0" xyz="0 0 0.0005"/>
1586
- <geometry name="lh_lfknuckle_visual">
1587
- <mesh filename="meshes/visual/f_knuckle/f_knuckle_E3M5.dae" scale="0.001 0.001 0.001"/>
1588
- </geometry>
1589
- <material name="LightGrey"/>
1590
- </visual>
1591
- <collision>
1592
- <origin rpy="0 1.5708 0" xyz="0 0 0"/>
1593
- <geometry name="lh_lfknuckle_collision_geom">
1594
- <cylinder length="0.014" radius="0.007"/>
1595
- </geometry>
1596
- </collision>
1597
- </link>
1598
- <joint name="lh_LFJ4" type="revolute">
1599
- <parent link="lh_lfmetacarpal"/>
1600
- <child link="lh_lfknuckle"/>
1601
- <!--<origin xyz="0.033 0 0.095" rpy="0 0 0" />-->
1602
- <origin rpy="0 -0.9599 0" xyz="-0.05397275 0 0.03779463"/>
1603
- <axis xyz="0 -1 0"/>
1604
- <limit effort="2" lower="-0.349065850399" upper="0.349065850399" velocity="2.0"/>
1605
- <dynamics damping="0.1"/>
1606
- </joint>
1607
- <link name="lh_lfproximal">
1608
- <inertial>
1609
- <mass value="0.030"/>
1610
- <origin xyz="0 0 0.0225"/>
1611
- <inertia ixx="0.0000098" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.0000018"/>
1612
- </inertial>
1613
- <visual>
1614
- <origin rpy="0 0 0" xyz="0 0 0"/>
1615
- <geometry name="lh_lfproximal_visual">
1616
- <mesh filename="meshes/visual/f_proximal/f_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
1617
- </geometry>
1618
- <material name="Grey"/>
1619
- </visual>
1620
- <collision>
1621
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1622
- <geometry name="lh_lfproximal_collision_geom">
1623
- <cylinder length="0.040" radius="0.007"/>
1624
- </geometry>
1625
- </collision>
1626
- </link>
1627
- <joint name="lh_LFJ3" type="revolute">
1628
- <parent link="lh_lfknuckle"/>
1629
- <child link="lh_lfproximal"/>
1630
- <origin rpy="0 0 0" xyz="0 0 0"/>
1631
- <axis xyz="1 0 0"/>
1632
- <limit effort="2" lower="-0.261799387799" upper="1.57079632679" velocity="2.0"/>
1633
- <dynamics damping="0.1"/>
1634
- </joint>
1635
- <link name="lh_lfmiddle">
1636
- <inertial>
1637
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
1638
- <mass value="0.017"/>
1639
- <inertia ixx="0.0000026" ixy="0.0" ixz="0.0" iyy="0.0000027" iyz="0.0" izz="0.00000087"/>
1640
- </inertial>
1641
- <visual>
1642
- <origin rpy="0 0 0" xyz="0 0 0"/>
1643
- <geometry name="lh_lfmiddle_visual">
1644
- <mesh filename="meshes/visual/f_middle/f_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
1645
- </geometry>
1646
- <material name="Grey"/>
1647
- </visual>
1648
- <collision>
1649
- <origin rpy="0 0 0" xyz="0 0 0.0125"/>
1650
- <geometry name="lh_lfmiddle_collision_geom">
1651
- <cylinder length="0.025" radius="0.007"/>
1652
- </geometry>
1653
- </collision>
1654
- <collision>
1655
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
1656
- <geometry>
1657
- <sphere radius="0.007"/>
1658
- </geometry>
1659
- </collision>
1660
- <collision>
1661
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1662
- <geometry>
1663
- <sphere radius="0.007"/>
1664
- </geometry>
1665
- </collision>
1666
- </link>
1667
- <joint name="lh_LFJ2" type="revolute">
1668
- <parent link="lh_lfproximal"/>
1669
- <child link="lh_lfmiddle"/>
1670
- <origin rpy="0 0 0" xyz="0 0 0.045"/>
1671
- <axis xyz="1 0 0"/>
1672
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
1673
- <dynamics damping="0.1"/>
1674
- </joint>
1675
- <link name="lh_lfdistal">
1676
- <inertial>
1677
- <mass value="0.012"/>
1678
- <origin xyz="0 0 0.012"/>
1679
- <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053"/>
1680
- </inertial>
1681
- <visual>
1682
- <origin rpy="0 0 0" xyz="0 0 0"/>
1683
- <geometry name="lh_lfdistal_visual">
1684
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
1685
- </geometry>
1686
- </visual>
1687
- <collision>
1688
- <origin rpy="0 0 0" xyz="0 0 0"/>
1689
- <geometry name="lh_lfdistal_collision_geom">
1690
- <mesh filename="meshes/visual/f_distal/pst/f_distal_pst.dae" scale="0.001 0.001 0.001"/>
1691
- </geometry>
1692
- </collision>
1693
- </link>
1694
- <joint name="lh_LFJ1" type="revolute">
1695
- <parent link="lh_lfmiddle"/>
1696
- <child link="lh_lfdistal"/>
1697
- <origin rpy="0 0 0" xyz="0 0 0.025"/>
1698
- <axis xyz="1 0 0"/>
1699
- <!-- standard distal joint -->
1700
- <limit effort="2" lower="0" upper="1.57079632679" velocity="2.0"/>
1701
- <dynamics damping="0.1"/>
1702
- </joint>
1703
- <link name="lh_lftip">
1704
- <inertial>
1705
- <mass value="0.001"/>
1706
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
1707
- </inertial>
1708
- </link>
1709
- <joint name="lh_LFtip" type="fixed">
1710
- <parent link="lh_lfdistal"/>
1711
- <child link="lh_lftip"/>
1712
- <origin rpy="0 0 0" xyz="0 0 0.026"/>
1713
- </joint>
1714
- <link name="lh_thbase">
1715
- <inertial>
1716
- <mass value="0.010"/>
1717
- <origin rpy="0 0 0" xyz="0 0 0"/>
1718
- <inertia ixx="0.00000016" ixy="0.0" ixz="0.0" iyy="0.00000016" iyz="0.0" izz="0.00000016"/>
1719
- </inertial>
1720
- <visual>
1721
- <origin rpy="0 0 0" xyz="0 0 0"/>
1722
- <geometry name="lh_thbase_visual">
1723
- <box size="0.001 0.001 0.001"/>
1724
- </geometry>
1725
- <material name="shadow_thbase_material">
1726
- <color rgba="0.5 0.5 0.5 1.0"/>
1727
- </material>
1728
- </visual>
1729
- <collision>
1730
- <origin rpy="0 0 0" xyz="0 0 0"/>
1731
- <geometry name="lh_thbase_collision_geom">
1732
- <sphere radius="0.011"/>
1733
- </geometry>
1734
- </collision>
1735
- </link>
1736
- <joint name="lh_THJ5" type="revolute">
1737
- <parent link="lh_palm"/>
1738
- <child link="lh_thbase"/>
1739
- <origin rpy="-0.785398163397 0 1.57079632679" xyz="-0.034 -0.00858 0.029"/>
1740
- <axis xyz="0 0 1"/>
1741
- <limit effort="5.0" lower="-1.0471975512" upper="1.0471975512" velocity="4.0"/>
1742
- <dynamics damping="0.2"/>
1743
- </joint>
1744
- <link name="lh_thproximal">
1745
- <inertial>
1746
- <mass value="0.040"/>
1747
- <origin rpy="0 0 0" xyz="0 0 0.019"/>
1748
- <inertia ixx="0.0000136" ixy="0.0" ixz="0.0" iyy="0.0000136" iyz="0.0" izz="0.00000313"/>
1749
- </inertial>
1750
- <visual>
1751
- <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
1752
- <geometry name="lh_thproximal_visual">
1753
- <mesh filename="meshes/visual/th_proximal/th_proximal_E3M5.dae" scale="0.001 0.001 0.001"/>
1754
- </geometry>
1755
- <material name="shadow_thproximal_material">
1756
- <color rgba="0.2 0.2 0.2 1.0"/>
1757
- </material>
1758
- </visual>
1759
- <collision>
1760
- <origin rpy="0 0 0" xyz="0 0 0.020"/>
1761
- <geometry name="lh_thproximal_collision_geom">
1762
- <cylinder length="0.018" radius="0.012"/>
1763
- </geometry>
1764
- </collision>
1765
- </link>
1766
- <joint name="lh_THJ4" type="revolute">
1767
- <parent link="lh_thbase"/>
1768
- <child link="lh_thproximal"/>
1769
- <origin rpy="0 0 0" xyz="0 0 0"/>
1770
- <axis xyz="0 -1 0"/>
1771
- <limit effort="3" lower="0.0" upper="1.2217304764" velocity="4.0"/>
1772
- <dynamics damping="0.2"/>
1773
- </joint>
1774
- <link name="lh_thhub">
1775
- <inertial>
1776
- <mass value="0.005"/>
1777
- <origin rpy="0 0 0" xyz="0 0 0"/>
1778
- <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.0000003"/>
1779
- </inertial>
1780
- <visual>
1781
- <origin rpy="0 0 0" xyz="0 0 0"/>
1782
- <geometry name="lh_thhub_visual">
1783
- <box size="0.001 0.001 0.001"/>
1784
- </geometry>
1785
- <material name="shadow_thhub_material">
1786
- <color rgba="0.7 0.7 0.7 1.0"/>
1787
- </material>
1788
- </visual>
1789
- <collision>
1790
- <origin rpy="0 0 0" xyz="0 0 0"/>
1791
- <geometry name="lh_thhub_collision_geom">
1792
- <sphere radius="0.010"/>
1793
- </geometry>
1794
- </collision>
1795
- </link>
1796
- <joint name="lh_THJ3" type="revolute">
1797
- <parent link="lh_thproximal"/>
1798
- <child link="lh_thhub"/>
1799
- <origin rpy="0 0 0" xyz="0 0 0.038"/>
1800
- <axis xyz="0 -1 0"/>
1801
- <limit effort="2.0" lower="-0.209439510239" upper="0.209439510239" velocity="4.0"/>
1802
- <dynamics damping="0.2"/>
1803
- </joint>
1804
- <link name="lh_thmiddle">
1805
- <inertial>
1806
- <mass value="0.020"/>
1807
- <origin rpy="0 0 0" xyz="0 0 0.016"/>
1808
- <inertia ixx="0.0000051" ixy="0.0" ixz="0.0" iyy="0.0000051" iyz="0.0" izz="0.00000121"/>
1809
- </inertial>
1810
- <visual>
1811
- <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
1812
- <geometry name="lh_thmiddle_visual">
1813
- <mesh filename="meshes/visual/th_middle/th_middle_E3M5.dae" scale="0.001 0.001 0.001"/>
1814
- </geometry>
1815
- <material name="shadow_thmiddle_material">
1816
- <color rgba="0.2 0.2 0.2 1.0"/>
1817
- </material>
1818
- </visual>
1819
- <collision>
1820
- <origin rpy="0 0 0" xyz="0 0 0.012"/>
1821
- <geometry name="lh_thmiddle_collision_geom">
1822
- <cylinder length="0.018" radius="0.011"/>
1823
- </geometry>
1824
- </collision>
1825
- <collision>
1826
- <origin rpy="0 0 0" xyz="0 0 0.019"/>
1827
- <geometry>
1828
- <sphere radius="0.011"/>
1829
- </geometry>
1830
- </collision>
1831
- <collision>
1832
- <origin rpy="0 1.5708 0" xyz="0 0 0.032"/>
1833
- <geometry>
1834
- <cylinder length="0.014" radius="0.010"/>
1835
- </geometry>
1836
- </collision>
1837
- </link>
1838
- <joint name="lh_THJ2" type="revolute">
1839
- <parent link="lh_thhub"/>
1840
- <child link="lh_thmiddle"/>
1841
- <origin rpy="0 0 0" xyz="0 0 0"/>
1842
- <axis xyz="1 0 0"/>
1843
- <limit effort="2.0" lower="-0.698131700798" upper="0.698131700798" velocity="2.0"/>
1844
- <dynamics damping="0.1"/>
1845
- </joint>
1846
- <link name="lh_thdistal">
1847
- <inertial>
1848
- <mass value="0.016"/>
1849
- <origin rpy="0 0 0" xyz="0 0 0.01375"/>
1850
- <inertia ixx="0.0000021" ixy="0.0" ixz="0.0" iyy="0.0000022" iyz="0.0" izz="0.000001"/>
1851
- </inertial>
1852
- <visual>
1853
- <origin rpy="0 0 0" xyz="0 0 0"/>
1854
- <geometry name="lh_thdistal_visual">
1855
- <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
1856
- </geometry>
1857
- <material name="shadow_thmiddle_material">
1858
- <color rgba="0.2 0.2 0.2 1.0"/>
1859
- </material>
1860
- </visual>
1861
- <collision>
1862
- <origin rpy="0 0 0" xyz="0 0 0"/>
1863
- <geometry name="lh_thmiddle_collision_geom">
1864
- <mesh filename="meshes/visual/th_distal/pst/th_distal_pst.dae" scale="0.001 0.001 0.001"/>
1865
- </geometry>
1866
- </collision>
1867
- </link>
1868
- <joint name="lh_THJ1" type="revolute">
1869
- <parent link="lh_thmiddle"/>
1870
- <child link="lh_thdistal"/>
1871
- <origin rpy="0 0 0" xyz="0 0 0.032"/>
1872
- <axis xyz="1 0 0"/>
1873
- <limit effort="1.0" lower="-0.261799387799" upper="1.57079632679" velocity="4.0"/>
1874
- <dynamics damping="0.2"/>
1875
- </joint>
1876
- <link name="lh_thtip">
1877
- <inertial>
1878
- <mass value="0.001"/>
1879
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
1880
- </inertial>
1881
- </link>
1882
- <joint name="lh_thtip" type="fixed">
1883
- <parent link="lh_thdistal"/>
1884
- <child link="lh_thtip"/>
1885
- <origin rpy="0 0 0" xyz="0 0 0.0275"/>
1886
- </joint>
1887
- <joint name="right_hand_to_left_hand" type="fixed">
1888
- <parent link="rh_forearm"/>
1889
- <child link="lh_forearm"/>
1890
- <origin rpy="0.0 0.0 0.0" xyz="-0.4 0.0 0.0"/>
1891
- </joint>
1892
- </robot>
1893
-
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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