Add many hands
#8
by
realyunlong
- opened
This view is limited to 50 files because it contains too many changes.
See the raw diff here.
- hands/ability_hand/LICENSE.txt +6 -0
- hands/ability_hand/ability_hand_left.urdf +475 -0
- hands/ability_hand/ability_hand_left_glb.urdf +475 -0
- hands/ability_hand/ability_hand_right.urdf +475 -0
- hands/ability_hand/ability_hand_right_glb.urdf +475 -0
- hands/ability_hand/meshes/collision/FB_palm_ref.obj +3 -0
- hands/ability_hand/meshes/collision/FB_palm_ref_MIR.obj +3 -0
- hands/ability_hand/meshes/collision/idx-F2_C.obj +3 -0
- hands/ability_hand/meshes/collision/thumb-F1-MIR_C.obj +3 -0
- hands/ability_hand/meshes/collision/thumb-F1_C.obj +3 -0
- hands/ability_hand/meshes/collision/thumb-F2_C.obj +3 -0
- hands/ability_hand/meshes/collision/wristmesh_C.obj +3 -0
- hands/ability_hand/meshes/visual/FB_palm_ref.glb +3 -0
- hands/ability_hand/meshes/visual/FB_palm_ref.mtl +12 -0
- hands/ability_hand/meshes/visual/FB_palm_ref.obj +3 -0
- hands/ability_hand/meshes/visual/FB_palm_ref_MIR.glb +3 -0
- hands/ability_hand/meshes/visual/FB_palm_ref_MIR.mtl +12 -0
- hands/ability_hand/meshes/visual/FB_palm_ref_MIR.obj +3 -0
- hands/ability_hand/meshes/visual/idx-F1.glb +3 -0
- hands/ability_hand/meshes/visual/idx-F1.mtl +12 -0
- hands/ability_hand/meshes/visual/idx-F1.obj +3 -0
- hands/ability_hand/meshes/visual/idx-F2.glb +3 -0
- hands/ability_hand/meshes/visual/idx-F2.mtl +12 -0
- hands/ability_hand/meshes/visual/idx-F2.obj +3 -0
- hands/ability_hand/meshes/visual/thumb-F1-MIR.glb +3 -0
- hands/ability_hand/meshes/visual/thumb-F1-MIR.mtl +12 -0
- hands/ability_hand/meshes/visual/thumb-F1-MIR.obj +3 -0
- hands/ability_hand/meshes/visual/thumb-F1.glb +3 -0
- hands/ability_hand/meshes/visual/thumb-F1.mtl +12 -0
- hands/ability_hand/meshes/visual/thumb-F1.obj +3 -0
- hands/ability_hand/meshes/visual/thumb-F2.glb +3 -0
- hands/ability_hand/meshes/visual/thumb-F2.mtl +12 -0
- hands/ability_hand/meshes/visual/thumb-F2.obj +3 -0
- hands/ability_hand/meshes/visual/wristmesh.glb +3 -0
- hands/ability_hand/meshes/visual/wristmesh.mtl +12 -0
- hands/ability_hand/meshes/visual/wristmesh.obj +3 -0
- hands/allegro_hand/LICENSE +15 -0
- hands/allegro_hand/allegro_hand_left.urdf +543 -0
- hands/allegro_hand/allegro_hand_left_glb.urdf +543 -0
- hands/allegro_hand/allegro_hand_right.urdf +542 -0
- hands/allegro_hand/allegro_hand_right_glb.urdf +542 -0
- hands/allegro_hand/meshes/collision/link_tip.obj +3 -0
- hands/allegro_hand/meshes/visual/base_link.glb +3 -0
- hands/allegro_hand/meshes/visual/base_link.mtl +12 -0
- hands/allegro_hand/meshes/visual/base_link.obj +3 -0
- hands/allegro_hand/meshes/visual/base_link_left.glb +3 -0
- hands/allegro_hand/meshes/visual/base_link_left.mtl +12 -0
- hands/allegro_hand/meshes/visual/base_link_left.obj +3 -0
- hands/allegro_hand/meshes/visual/link_0.0.glb +3 -0
- hands/allegro_hand/meshes/visual/link_0.0.mtl +12 -0
hands/ability_hand/LICENSE.txt
ADDED
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@@ -0,0 +1,6 @@
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Copyright 2024
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The source model is from the urdf file provided on the inspire official GitHub repo: https://github.com/psyonicinc/ability-hand-api/tree/master/URDF
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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.
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hands/ability_hand/ability_hand_left.urdf
ADDED
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@@ -0,0 +1,475 @@
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| 1 |
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<robot name="ability_hand">
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<link name="base_link"/>
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<joint name="base_joint" type="fixed">
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<parent link="base_link"/>
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<child link="base"/>
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<origin xyz="0 0 0" rpy="0 0 -1.57079"/>
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| 7 |
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</joint>
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<link name="base">
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| 9 |
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<visual name="wrist_mesh">
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| 10 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
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| 11 |
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<geometry>
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| 12 |
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<mesh filename="meshes/visual/wristmesh.obj"/>
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| 13 |
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</geometry>
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| 14 |
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</visual>
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<collision>
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| 16 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 17 |
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<geometry>
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| 18 |
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<mesh filename="meshes/collision/wristmesh_C.obj"/>
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</geometry>
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</collision>
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| 21 |
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<inertial> <!-- the mass and inertia here are NOT correct -->
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<mass value="0.200"/>
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| 23 |
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<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
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| 24 |
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<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
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| 25 |
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</inertial>
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| 26 |
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</link>
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| 27 |
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<joint name="wrist2thumb" type="fixed">
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| 28 |
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<parent link="base"/>
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| 29 |
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<child link="thumb_base"/>
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| 30 |
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<origin xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 0.08848813 3.14036612"/>
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</joint>
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<link name="thumb_base">
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<inertial>
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| 34 |
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<mass value="0.400"/>
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| 35 |
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<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
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| 36 |
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<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
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| 37 |
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</inertial>
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| 38 |
+
<visual name="palm_mesh">
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| 39 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
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| 40 |
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<geometry>
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| 41 |
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<mesh filename="meshes/visual/FB_palm_ref.obj"/>
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| 42 |
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</geometry>
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| 43 |
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</visual>
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| 44 |
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<collision> <!-- thumb_base -->
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| 45 |
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<origin xyz="0 0 0" rpy="0 0 0"/>
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| 46 |
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<geometry>
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| 47 |
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<mesh filename="meshes/collision/FB_palm_ref.obj"/>
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| 48 |
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</geometry>
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| 49 |
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</collision>
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| 50 |
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</link>
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| 51 |
+
<link name="thumb_L1">
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| 52 |
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<inertial>
|
| 53 |
+
<mass value="0.00268342"/>
|
| 54 |
+
<inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
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| 55 |
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<origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
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| 56 |
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</inertial>
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| 57 |
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<visual name="thumb_mesh_1">
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| 58 |
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<origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
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| 59 |
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<geometry>
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| 60 |
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<mesh filename="meshes/visual/thumb-F1.obj"/>
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| 61 |
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</geometry>
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| 62 |
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</visual>
|
| 63 |
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<collision> <!-- thumb_L1 -->
|
| 64 |
+
<origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
|
| 65 |
+
<geometry>
|
| 66 |
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<mesh filename="meshes/collision/thumb-F1_C.obj"/>
|
| 67 |
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</geometry>
|
| 68 |
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</collision>
|
| 69 |
+
</link>
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| 70 |
+
<link name="thumb_L2">
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| 71 |
+
<inertial>
|
| 72 |
+
<mass value="0.0055"/>
|
| 73 |
+
<inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
|
| 74 |
+
<origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
|
| 75 |
+
</inertial>
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| 76 |
+
<visual name="thumb_mesh_2">
|
| 77 |
+
<origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh filename="meshes/visual/thumb-F2.obj"/>
|
| 80 |
+
</geometry>
|
| 81 |
+
</visual>
|
| 82 |
+
<collision> <!-- thumb_L2 -->
|
| 83 |
+
<origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
|
| 84 |
+
<geometry>
|
| 85 |
+
<mesh filename="meshes/collision/thumb-F2_C.obj"/>
|
| 86 |
+
</geometry>
|
| 87 |
+
</collision>
|
| 88 |
+
</link>
|
| 89 |
+
<joint name="thumb_q1" type="revolute">
|
| 90 |
+
<parent link="thumb_base"/>
|
| 91 |
+
<child link="thumb_L1"/>
|
| 92 |
+
<origin xyz="0 0 0" rpy="0 0 3.330437"/>
|
| 93 |
+
<axis xyz="0 0 1"/>
|
| 94 |
+
<limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 95 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 96 |
+
</joint>
|
| 97 |
+
<joint name="thumb_q2" type="revolute">
|
| 98 |
+
<parent link="thumb_L1"/>
|
| 99 |
+
<child link="thumb_L2"/>
|
| 100 |
+
<origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
|
| 101 |
+
<axis xyz="0 0 1"/>
|
| 102 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 103 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 104 |
+
</joint>
|
| 105 |
+
<link name="thumb_tip"/>
|
| 106 |
+
<joint name="thumb_tip_joint" type="fixed">
|
| 107 |
+
<parent link="thumb_L2"/>
|
| 108 |
+
<child link="thumb_tip"/>
|
| 109 |
+
<origin rpy="0 0 0" xyz="0.065 0.016 0"/>
|
| 110 |
+
</joint>
|
| 111 |
+
<link name="index_L1">
|
| 112 |
+
<inertial>
|
| 113 |
+
<mass value="0.00635888"/>
|
| 114 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 115 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 116 |
+
</inertial>
|
| 117 |
+
<visual name="index_mesh_1">
|
| 118 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 119 |
+
<geometry>
|
| 120 |
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
| 121 |
+
</geometry>
|
| 122 |
+
</visual>
|
| 123 |
+
<collision> <!-- index_L1 -->
|
| 124 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 125 |
+
<geometry>
|
| 126 |
+
<sphere radius="0.0085"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
</collision>
|
| 129 |
+
<collision>
|
| 130 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 131 |
+
<geometry>
|
| 132 |
+
<box size="0.028 0.012 0.016"/>
|
| 133 |
+
</geometry>
|
| 134 |
+
</collision>
|
| 135 |
+
<collision>
|
| 136 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 137 |
+
<geometry>
|
| 138 |
+
<box size="0.02 0.01 0.016"/>
|
| 139 |
+
</geometry>
|
| 140 |
+
</collision>
|
| 141 |
+
<collision>
|
| 142 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 143 |
+
<geometry>
|
| 144 |
+
<box size="0.012 0.012 0.002"/>
|
| 145 |
+
</geometry>
|
| 146 |
+
</collision>
|
| 147 |
+
<collision>
|
| 148 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 149 |
+
<geometry>
|
| 150 |
+
<box size="0.012 0.012 0.002"/>
|
| 151 |
+
</geometry>
|
| 152 |
+
</collision>
|
| 153 |
+
</link>
|
| 154 |
+
<link name="index_L2">
|
| 155 |
+
<inertial>
|
| 156 |
+
<mass value="0.00645"/>
|
| 157 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 158 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 159 |
+
</inertial>
|
| 160 |
+
<visual name="index_mesh_2">
|
| 161 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 162 |
+
<geometry>
|
| 163 |
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
</visual>
|
| 166 |
+
<collision> <!-- index_L2 -->
|
| 167 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 168 |
+
<geometry>
|
| 169 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 170 |
+
</geometry>
|
| 171 |
+
</collision>
|
| 172 |
+
<collision>
|
| 173 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 174 |
+
<geometry>
|
| 175 |
+
<sphere radius="0.007"/>
|
| 176 |
+
</geometry>
|
| 177 |
+
</collision>
|
| 178 |
+
</link>
|
| 179 |
+
<joint name="index_q1" type="revolute">
|
| 180 |
+
<parent link="thumb_base"/>
|
| 181 |
+
<child link="index_L1"/>
|
| 182 |
+
<origin xyz="-9.49e-3 -13.04e-3 -62.95e-3" rpy="-1.982050 1.284473 -2.090591"/>
|
| 183 |
+
<axis xyz="0 0 1"/>
|
| 184 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 185 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 186 |
+
</joint>
|
| 187 |
+
<joint name="index_q2" type="revolute">
|
| 188 |
+
<parent link="index_L1"/>
|
| 189 |
+
<child link="index_L2"/>
|
| 190 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
|
| 191 |
+
<axis xyz="0 0 1"/>
|
| 192 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 193 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 194 |
+
<mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="index_tip"/>
|
| 197 |
+
<joint name="index_tip_joint" type="fixed">
|
| 198 |
+
<parent link="index_L2"/>
|
| 199 |
+
<child link="index_tip"/>
|
| 200 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<link name="middle_L1">
|
| 203 |
+
<inertial>
|
| 204 |
+
<mass value="0.00635888"/>
|
| 205 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 206 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 207 |
+
</inertial>
|
| 208 |
+
<visual name="middle_mesh_1">
|
| 209 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 210 |
+
<geometry>
|
| 211 |
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
| 212 |
+
</geometry>
|
| 213 |
+
</visual>
|
| 214 |
+
<collision> <!-- middle_L1 -->
|
| 215 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 216 |
+
<geometry>
|
| 217 |
+
<sphere radius="0.0085"/>
|
| 218 |
+
</geometry>
|
| 219 |
+
</collision>
|
| 220 |
+
<collision>
|
| 221 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 222 |
+
<geometry>
|
| 223 |
+
<box size="0.028 0.012 0.016"/>
|
| 224 |
+
</geometry>
|
| 225 |
+
</collision>
|
| 226 |
+
<collision>
|
| 227 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 228 |
+
<geometry>
|
| 229 |
+
<box size="0.02 0.01 0.016"/>
|
| 230 |
+
</geometry>
|
| 231 |
+
</collision>
|
| 232 |
+
<collision>
|
| 233 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 234 |
+
<geometry>
|
| 235 |
+
<box size="0.012 0.012 0.002"/>
|
| 236 |
+
</geometry>
|
| 237 |
+
</collision>
|
| 238 |
+
<collision>
|
| 239 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 240 |
+
<geometry>
|
| 241 |
+
<box size="0.012 0.012 0.002"/>
|
| 242 |
+
</geometry>
|
| 243 |
+
</collision>
|
| 244 |
+
</link>
|
| 245 |
+
<link name="middle_L2">
|
| 246 |
+
<inertial>
|
| 247 |
+
<mass value="0.00645"/>
|
| 248 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 249 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 250 |
+
</inertial>
|
| 251 |
+
<visual name="middle_mesh_2">
|
| 252 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 253 |
+
<geometry>
|
| 254 |
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
| 255 |
+
</geometry>
|
| 256 |
+
</visual>
|
| 257 |
+
<collision> <!-- middle_L2 -->
|
| 258 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 259 |
+
<geometry>
|
| 260 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 261 |
+
</geometry>
|
| 262 |
+
</collision>
|
| 263 |
+
<collision>
|
| 264 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 265 |
+
<geometry>
|
| 266 |
+
<sphere radius="0.007"/>
|
| 267 |
+
</geometry>
|
| 268 |
+
</collision>
|
| 269 |
+
</link>
|
| 270 |
+
<joint name="middle_q1" type="revolute">
|
| 271 |
+
<parent link="thumb_base"/>
|
| 272 |
+
<child link="middle_L1"/>
|
| 273 |
+
<origin xyz="9.653191e-3 -15.310271e-3 -67.853949e-3" rpy="-1.860531 1.308458 -1.896217"/>
|
| 274 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 275 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 276 |
+
<axis xyz="0 0 1"/>
|
| 277 |
+
</joint>
|
| 278 |
+
<joint name="middle_q2" type="revolute">
|
| 279 |
+
<parent link="middle_L1"/>
|
| 280 |
+
<child link="middle_L2"/>
|
| 281 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 282 |
+
<axis xyz="0 0 1"/>
|
| 283 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 284 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 285 |
+
<mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 286 |
+
</joint>
|
| 287 |
+
<link name="middle_tip"/>
|
| 288 |
+
<joint name="middle_tip_joint" type="fixed">
|
| 289 |
+
<parent link="middle_L2"/>
|
| 290 |
+
<child link="middle_tip"/>
|
| 291 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 292 |
+
</joint>
|
| 293 |
+
<link name="ring_L1">
|
| 294 |
+
<inertial>
|
| 295 |
+
<mass value="0.00635888"/>
|
| 296 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 297 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 298 |
+
</inertial>
|
| 299 |
+
<visual name="ring_mesh_1">
|
| 300 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 301 |
+
<geometry>
|
| 302 |
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
| 303 |
+
</geometry>
|
| 304 |
+
</visual>
|
| 305 |
+
<collision> <!-- ring_L1 -->
|
| 306 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 307 |
+
<geometry>
|
| 308 |
+
<sphere radius="0.0085"/>
|
| 309 |
+
</geometry>
|
| 310 |
+
</collision>
|
| 311 |
+
<collision>
|
| 312 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 313 |
+
<geometry>
|
| 314 |
+
<box size="0.028 0.012 0.016"/>
|
| 315 |
+
</geometry>
|
| 316 |
+
</collision>
|
| 317 |
+
<collision>
|
| 318 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 319 |
+
<geometry>
|
| 320 |
+
<box size="0.02 0.01 0.016"/>
|
| 321 |
+
</geometry>
|
| 322 |
+
</collision>
|
| 323 |
+
<collision>
|
| 324 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 325 |
+
<geometry>
|
| 326 |
+
<box size="0.012 0.012 0.002"/>
|
| 327 |
+
</geometry>
|
| 328 |
+
</collision>
|
| 329 |
+
<collision>
|
| 330 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 331 |
+
<geometry>
|
| 332 |
+
<box size="0.012 0.012 0.002"/>
|
| 333 |
+
</geometry>
|
| 334 |
+
</collision>
|
| 335 |
+
</link>
|
| 336 |
+
<link name="ring_L2">
|
| 337 |
+
<inertial>
|
| 338 |
+
<mass value="0.00645"/>
|
| 339 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 340 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 341 |
+
</inertial>
|
| 342 |
+
<visual name="ring_mesh_2">
|
| 343 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 344 |
+
<geometry>
|
| 345 |
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
| 346 |
+
</geometry>
|
| 347 |
+
</visual>
|
| 348 |
+
<collision> <!-- ring_L2 -->
|
| 349 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 350 |
+
<geometry>
|
| 351 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 352 |
+
</geometry>
|
| 353 |
+
</collision>
|
| 354 |
+
<collision>
|
| 355 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<sphere radius="0.007"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
</collision>
|
| 360 |
+
</link>
|
| 361 |
+
<joint name="ring_q1" type="revolute">
|
| 362 |
+
<parent link="thumb_base"/>
|
| 363 |
+
<child link="ring_L1"/>
|
| 364 |
+
<origin xyz="29.954260e-3 -14.212492e-3 -67.286105e-3" rpy="-1.716598 1.321452 -1.675862"/>
|
| 365 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 366 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 367 |
+
<axis xyz="0 0 1"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<joint name="ring_q2" type="revolute">
|
| 370 |
+
<parent link="ring_L1"/>
|
| 371 |
+
<child link="ring_L2"/>
|
| 372 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 373 |
+
<axis xyz="0 0 1"/>
|
| 374 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 375 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 376 |
+
<mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 377 |
+
</joint>
|
| 378 |
+
<link name="ring_tip"/>
|
| 379 |
+
<joint name="ring_tip_joint" type="fixed">
|
| 380 |
+
<parent link="ring_L2"/>
|
| 381 |
+
<child link="ring_tip"/>
|
| 382 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 383 |
+
</joint>
|
| 384 |
+
<link name="pinky_L1">
|
| 385 |
+
<inertial>
|
| 386 |
+
<mass value="0.00635888"/>
|
| 387 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 388 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 389 |
+
</inertial>
|
| 390 |
+
<visual name="pinky_mesh_1">
|
| 391 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 392 |
+
<geometry>
|
| 393 |
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
| 394 |
+
</geometry>
|
| 395 |
+
</visual>
|
| 396 |
+
<collision> <!-- pinky_L1 -->
|
| 397 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 398 |
+
<geometry>
|
| 399 |
+
<sphere radius="0.0085"/>
|
| 400 |
+
</geometry>
|
| 401 |
+
</collision>
|
| 402 |
+
<collision>
|
| 403 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 404 |
+
<geometry>
|
| 405 |
+
<box size="0.028 0.012 0.016"/>
|
| 406 |
+
</geometry>
|
| 407 |
+
</collision>
|
| 408 |
+
<collision>
|
| 409 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 410 |
+
<geometry>
|
| 411 |
+
<box size="0.02 0.01 0.016"/>
|
| 412 |
+
</geometry>
|
| 413 |
+
</collision>
|
| 414 |
+
<collision>
|
| 415 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 416 |
+
<geometry>
|
| 417 |
+
<box size="0.012 0.012 0.002"/>
|
| 418 |
+
</geometry>
|
| 419 |
+
</collision>
|
| 420 |
+
<collision>
|
| 421 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 422 |
+
<geometry>
|
| 423 |
+
<box size="0.012 0.012 0.002"/>
|
| 424 |
+
</geometry>
|
| 425 |
+
</collision>
|
| 426 |
+
</link>
|
| 427 |
+
<link name="pinky_L2">
|
| 428 |
+
<inertial>
|
| 429 |
+
<mass value="0.00645"/>
|
| 430 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 431 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 432 |
+
</inertial>
|
| 433 |
+
<visual name="pinky_mesh_2">
|
| 434 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 435 |
+
<geometry>
|
| 436 |
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
| 437 |
+
</geometry>
|
| 438 |
+
</visual>
|
| 439 |
+
<collision> <!-- pinky_L2 -->
|
| 440 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 441 |
+
<geometry>
|
| 442 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 443 |
+
</geometry>
|
| 444 |
+
</collision>
|
| 445 |
+
<collision>
|
| 446 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 447 |
+
<geometry>
|
| 448 |
+
<sphere radius="0.007"/>
|
| 449 |
+
</geometry>
|
| 450 |
+
</collision>
|
| 451 |
+
</link>
|
| 452 |
+
<joint name="pinky_q1" type="revolute">
|
| 453 |
+
<parent link="thumb_base"/>
|
| 454 |
+
<child link="pinky_L1"/>
|
| 455 |
+
<origin xyz="49.521293e-3 -11.004583e-3 -63.029065e-3" rpy="-1.765110 1.322220 -1.658383"/>
|
| 456 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 457 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 458 |
+
<axis xyz="0 0 1"/>
|
| 459 |
+
</joint>
|
| 460 |
+
<joint name="pinky_q2" type="revolute">
|
| 461 |
+
<parent link="pinky_L1"/>
|
| 462 |
+
<child link="pinky_L2"/>
|
| 463 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 464 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 465 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 466 |
+
<axis xyz="0 0 1"/>
|
| 467 |
+
<mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 468 |
+
</joint>
|
| 469 |
+
<link name="pinky_tip"/>
|
| 470 |
+
<joint name="pinky_tip_joint" type="fixed">
|
| 471 |
+
<parent link="pinky_L2"/>
|
| 472 |
+
<child link="pinky_tip"/>
|
| 473 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 474 |
+
</joint>
|
| 475 |
+
</robot>
|
hands/ability_hand/ability_hand_left_glb.urdf
ADDED
|
@@ -0,0 +1,475 @@
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<robot name="ability_hand">
|
| 2 |
+
<link name="base_link"/>
|
| 3 |
+
<joint name="base_joint" type="fixed">
|
| 4 |
+
<parent link="base_link"/>
|
| 5 |
+
<child link="base"/>
|
| 6 |
+
<origin xyz="0 0 0" rpy="0 0 -1.57079"/>
|
| 7 |
+
</joint>
|
| 8 |
+
<link name="base">
|
| 9 |
+
<visual name="wrist_mesh">
|
| 10 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/visual/wristmesh.glb"/>
|
| 13 |
+
</geometry>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision>
|
| 16 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 17 |
+
<geometry>
|
| 18 |
+
<mesh filename="meshes/collision/wristmesh_C.obj"/>
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
<inertial> <!-- the mass and inertia here are NOT correct -->
|
| 22 |
+
<mass value="0.200"/>
|
| 23 |
+
<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
|
| 24 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 25 |
+
</inertial>
|
| 26 |
+
</link>
|
| 27 |
+
<joint name="wrist2thumb" type="fixed">
|
| 28 |
+
<parent link="base"/>
|
| 29 |
+
<child link="thumb_base"/>
|
| 30 |
+
<origin xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 0.08848813 3.14036612"/>
|
| 31 |
+
</joint>
|
| 32 |
+
<link name="thumb_base">
|
| 33 |
+
<inertial>
|
| 34 |
+
<mass value="0.400"/>
|
| 35 |
+
<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
|
| 36 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 37 |
+
</inertial>
|
| 38 |
+
<visual name="palm_mesh">
|
| 39 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 40 |
+
<geometry>
|
| 41 |
+
<mesh filename="meshes/visual/FB_palm_ref.glb"/>
|
| 42 |
+
</geometry>
|
| 43 |
+
</visual>
|
| 44 |
+
<collision> <!-- thumb_base -->
|
| 45 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 46 |
+
<geometry>
|
| 47 |
+
<mesh filename="meshes/collision/FB_palm_ref.obj"/>
|
| 48 |
+
</geometry>
|
| 49 |
+
</collision>
|
| 50 |
+
</link>
|
| 51 |
+
<link name="thumb_L1">
|
| 52 |
+
<inertial>
|
| 53 |
+
<mass value="0.00268342"/>
|
| 54 |
+
<inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
|
| 55 |
+
<origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
|
| 56 |
+
</inertial>
|
| 57 |
+
<visual name="thumb_mesh_1">
|
| 58 |
+
<origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
|
| 59 |
+
<geometry>
|
| 60 |
+
<mesh filename="meshes/visual/thumb-F1.glb"/>
|
| 61 |
+
</geometry>
|
| 62 |
+
</visual>
|
| 63 |
+
<collision> <!-- thumb_L1 -->
|
| 64 |
+
<origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
|
| 65 |
+
<geometry>
|
| 66 |
+
<mesh filename="meshes/collision/thumb-F1_C.obj"/>
|
| 67 |
+
</geometry>
|
| 68 |
+
</collision>
|
| 69 |
+
</link>
|
| 70 |
+
<link name="thumb_L2">
|
| 71 |
+
<inertial>
|
| 72 |
+
<mass value="0.0055"/>
|
| 73 |
+
<inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
|
| 74 |
+
<origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
|
| 75 |
+
</inertial>
|
| 76 |
+
<visual name="thumb_mesh_2">
|
| 77 |
+
<origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh filename="meshes/visual/thumb-F2.glb"/>
|
| 80 |
+
</geometry>
|
| 81 |
+
</visual>
|
| 82 |
+
<collision> <!-- thumb_L2 -->
|
| 83 |
+
<origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
|
| 84 |
+
<geometry>
|
| 85 |
+
<mesh filename="meshes/collision/thumb-F2_C.obj"/>
|
| 86 |
+
</geometry>
|
| 87 |
+
</collision>
|
| 88 |
+
</link>
|
| 89 |
+
<joint name="thumb_q1" type="revolute">
|
| 90 |
+
<parent link="thumb_base"/>
|
| 91 |
+
<child link="thumb_L1"/>
|
| 92 |
+
<origin xyz="0 0 0" rpy="0 0 3.330437"/>
|
| 93 |
+
<axis xyz="0 0 1"/>
|
| 94 |
+
<limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 95 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 96 |
+
</joint>
|
| 97 |
+
<joint name="thumb_q2" type="revolute">
|
| 98 |
+
<parent link="thumb_L1"/>
|
| 99 |
+
<child link="thumb_L2"/>
|
| 100 |
+
<origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
|
| 101 |
+
<axis xyz="0 0 1"/>
|
| 102 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 103 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 104 |
+
</joint>
|
| 105 |
+
<link name="thumb_tip"/>
|
| 106 |
+
<joint name="thumb_tip_joint" type="fixed">
|
| 107 |
+
<parent link="thumb_L2"/>
|
| 108 |
+
<child link="thumb_tip"/>
|
| 109 |
+
<origin rpy="0 0 0" xyz="0.065 0.016 0"/>
|
| 110 |
+
</joint>
|
| 111 |
+
<link name="index_L1">
|
| 112 |
+
<inertial>
|
| 113 |
+
<mass value="0.00635888"/>
|
| 114 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 115 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 116 |
+
</inertial>
|
| 117 |
+
<visual name="index_mesh_1">
|
| 118 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 119 |
+
<geometry>
|
| 120 |
+
<mesh filename="meshes/visual/idx-F1.glb"/>
|
| 121 |
+
</geometry>
|
| 122 |
+
</visual>
|
| 123 |
+
<collision> <!-- index_L1 -->
|
| 124 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 125 |
+
<geometry>
|
| 126 |
+
<sphere radius="0.0085"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
</collision>
|
| 129 |
+
<collision>
|
| 130 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 131 |
+
<geometry>
|
| 132 |
+
<box size="0.028 0.012 0.016"/>
|
| 133 |
+
</geometry>
|
| 134 |
+
</collision>
|
| 135 |
+
<collision>
|
| 136 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 137 |
+
<geometry>
|
| 138 |
+
<box size="0.02 0.01 0.016"/>
|
| 139 |
+
</geometry>
|
| 140 |
+
</collision>
|
| 141 |
+
<collision>
|
| 142 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 143 |
+
<geometry>
|
| 144 |
+
<box size="0.012 0.012 0.002"/>
|
| 145 |
+
</geometry>
|
| 146 |
+
</collision>
|
| 147 |
+
<collision>
|
| 148 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 149 |
+
<geometry>
|
| 150 |
+
<box size="0.012 0.012 0.002"/>
|
| 151 |
+
</geometry>
|
| 152 |
+
</collision>
|
| 153 |
+
</link>
|
| 154 |
+
<link name="index_L2">
|
| 155 |
+
<inertial>
|
| 156 |
+
<mass value="0.00645"/>
|
| 157 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 158 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 159 |
+
</inertial>
|
| 160 |
+
<visual name="index_mesh_2">
|
| 161 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 162 |
+
<geometry>
|
| 163 |
+
<mesh filename="meshes/visual/idx-F2.glb"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
</visual>
|
| 166 |
+
<collision> <!-- index_L2 -->
|
| 167 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 168 |
+
<geometry>
|
| 169 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 170 |
+
</geometry>
|
| 171 |
+
</collision>
|
| 172 |
+
<collision>
|
| 173 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 174 |
+
<geometry>
|
| 175 |
+
<sphere radius="0.007"/>
|
| 176 |
+
</geometry>
|
| 177 |
+
</collision>
|
| 178 |
+
</link>
|
| 179 |
+
<joint name="index_q1" type="revolute">
|
| 180 |
+
<parent link="thumb_base"/>
|
| 181 |
+
<child link="index_L1"/>
|
| 182 |
+
<origin xyz="-9.49e-3 -13.04e-3 -62.95e-3" rpy="-1.982050 1.284473 -2.090591"/>
|
| 183 |
+
<axis xyz="0 0 1"/>
|
| 184 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 185 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 186 |
+
</joint>
|
| 187 |
+
<joint name="index_q2" type="revolute">
|
| 188 |
+
<parent link="index_L1"/>
|
| 189 |
+
<child link="index_L2"/>
|
| 190 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
|
| 191 |
+
<axis xyz="0 0 1"/>
|
| 192 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 193 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 194 |
+
<mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="index_tip"/>
|
| 197 |
+
<joint name="index_tip_joint" type="fixed">
|
| 198 |
+
<parent link="index_L2"/>
|
| 199 |
+
<child link="index_tip"/>
|
| 200 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<link name="middle_L1">
|
| 203 |
+
<inertial>
|
| 204 |
+
<mass value="0.00635888"/>
|
| 205 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 206 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 207 |
+
</inertial>
|
| 208 |
+
<visual name="middle_mesh_1">
|
| 209 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 210 |
+
<geometry>
|
| 211 |
+
<mesh filename="meshes/visual/idx-F1.glb"/>
|
| 212 |
+
</geometry>
|
| 213 |
+
</visual>
|
| 214 |
+
<collision> <!-- middle_L1 -->
|
| 215 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 216 |
+
<geometry>
|
| 217 |
+
<sphere radius="0.0085"/>
|
| 218 |
+
</geometry>
|
| 219 |
+
</collision>
|
| 220 |
+
<collision>
|
| 221 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 222 |
+
<geometry>
|
| 223 |
+
<box size="0.028 0.012 0.016"/>
|
| 224 |
+
</geometry>
|
| 225 |
+
</collision>
|
| 226 |
+
<collision>
|
| 227 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 228 |
+
<geometry>
|
| 229 |
+
<box size="0.02 0.01 0.016"/>
|
| 230 |
+
</geometry>
|
| 231 |
+
</collision>
|
| 232 |
+
<collision>
|
| 233 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 234 |
+
<geometry>
|
| 235 |
+
<box size="0.012 0.012 0.002"/>
|
| 236 |
+
</geometry>
|
| 237 |
+
</collision>
|
| 238 |
+
<collision>
|
| 239 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 240 |
+
<geometry>
|
| 241 |
+
<box size="0.012 0.012 0.002"/>
|
| 242 |
+
</geometry>
|
| 243 |
+
</collision>
|
| 244 |
+
</link>
|
| 245 |
+
<link name="middle_L2">
|
| 246 |
+
<inertial>
|
| 247 |
+
<mass value="0.00645"/>
|
| 248 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 249 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 250 |
+
</inertial>
|
| 251 |
+
<visual name="middle_mesh_2">
|
| 252 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 253 |
+
<geometry>
|
| 254 |
+
<mesh filename="meshes/visual/idx-F2.glb"/>
|
| 255 |
+
</geometry>
|
| 256 |
+
</visual>
|
| 257 |
+
<collision> <!-- middle_L2 -->
|
| 258 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 259 |
+
<geometry>
|
| 260 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 261 |
+
</geometry>
|
| 262 |
+
</collision>
|
| 263 |
+
<collision>
|
| 264 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 265 |
+
<geometry>
|
| 266 |
+
<sphere radius="0.007"/>
|
| 267 |
+
</geometry>
|
| 268 |
+
</collision>
|
| 269 |
+
</link>
|
| 270 |
+
<joint name="middle_q1" type="revolute">
|
| 271 |
+
<parent link="thumb_base"/>
|
| 272 |
+
<child link="middle_L1"/>
|
| 273 |
+
<origin xyz="9.653191e-3 -15.310271e-3 -67.853949e-3" rpy="-1.860531 1.308458 -1.896217"/>
|
| 274 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 275 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 276 |
+
<axis xyz="0 0 1"/>
|
| 277 |
+
</joint>
|
| 278 |
+
<joint name="middle_q2" type="revolute">
|
| 279 |
+
<parent link="middle_L1"/>
|
| 280 |
+
<child link="middle_L2"/>
|
| 281 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 282 |
+
<axis xyz="0 0 1"/>
|
| 283 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 284 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 285 |
+
<mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 286 |
+
</joint>
|
| 287 |
+
<link name="middle_tip"/>
|
| 288 |
+
<joint name="middle_tip_joint" type="fixed">
|
| 289 |
+
<parent link="middle_L2"/>
|
| 290 |
+
<child link="middle_tip"/>
|
| 291 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 292 |
+
</joint>
|
| 293 |
+
<link name="ring_L1">
|
| 294 |
+
<inertial>
|
| 295 |
+
<mass value="0.00635888"/>
|
| 296 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 297 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 298 |
+
</inertial>
|
| 299 |
+
<visual name="ring_mesh_1">
|
| 300 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 301 |
+
<geometry>
|
| 302 |
+
<mesh filename="meshes/visual/idx-F1.glb"/>
|
| 303 |
+
</geometry>
|
| 304 |
+
</visual>
|
| 305 |
+
<collision> <!-- ring_L1 -->
|
| 306 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 307 |
+
<geometry>
|
| 308 |
+
<sphere radius="0.0085"/>
|
| 309 |
+
</geometry>
|
| 310 |
+
</collision>
|
| 311 |
+
<collision>
|
| 312 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 313 |
+
<geometry>
|
| 314 |
+
<box size="0.028 0.012 0.016"/>
|
| 315 |
+
</geometry>
|
| 316 |
+
</collision>
|
| 317 |
+
<collision>
|
| 318 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 319 |
+
<geometry>
|
| 320 |
+
<box size="0.02 0.01 0.016"/>
|
| 321 |
+
</geometry>
|
| 322 |
+
</collision>
|
| 323 |
+
<collision>
|
| 324 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 325 |
+
<geometry>
|
| 326 |
+
<box size="0.012 0.012 0.002"/>
|
| 327 |
+
</geometry>
|
| 328 |
+
</collision>
|
| 329 |
+
<collision>
|
| 330 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 331 |
+
<geometry>
|
| 332 |
+
<box size="0.012 0.012 0.002"/>
|
| 333 |
+
</geometry>
|
| 334 |
+
</collision>
|
| 335 |
+
</link>
|
| 336 |
+
<link name="ring_L2">
|
| 337 |
+
<inertial>
|
| 338 |
+
<mass value="0.00645"/>
|
| 339 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 340 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 341 |
+
</inertial>
|
| 342 |
+
<visual name="ring_mesh_2">
|
| 343 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 344 |
+
<geometry>
|
| 345 |
+
<mesh filename="meshes/visual/idx-F2.glb"/>
|
| 346 |
+
</geometry>
|
| 347 |
+
</visual>
|
| 348 |
+
<collision> <!-- ring_L2 -->
|
| 349 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 350 |
+
<geometry>
|
| 351 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 352 |
+
</geometry>
|
| 353 |
+
</collision>
|
| 354 |
+
<collision>
|
| 355 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<sphere radius="0.007"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
</collision>
|
| 360 |
+
</link>
|
| 361 |
+
<joint name="ring_q1" type="revolute">
|
| 362 |
+
<parent link="thumb_base"/>
|
| 363 |
+
<child link="ring_L1"/>
|
| 364 |
+
<origin xyz="29.954260e-3 -14.212492e-3 -67.286105e-3" rpy="-1.716598 1.321452 -1.675862"/>
|
| 365 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 366 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 367 |
+
<axis xyz="0 0 1"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<joint name="ring_q2" type="revolute">
|
| 370 |
+
<parent link="ring_L1"/>
|
| 371 |
+
<child link="ring_L2"/>
|
| 372 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 373 |
+
<axis xyz="0 0 1"/>
|
| 374 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 375 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 376 |
+
<mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 377 |
+
</joint>
|
| 378 |
+
<link name="ring_tip"/>
|
| 379 |
+
<joint name="ring_tip_joint" type="fixed">
|
| 380 |
+
<parent link="ring_L2"/>
|
| 381 |
+
<child link="ring_tip"/>
|
| 382 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 383 |
+
</joint>
|
| 384 |
+
<link name="pinky_L1">
|
| 385 |
+
<inertial>
|
| 386 |
+
<mass value="0.00635888"/>
|
| 387 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 388 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 389 |
+
</inertial>
|
| 390 |
+
<visual name="pinky_mesh_1">
|
| 391 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 392 |
+
<geometry>
|
| 393 |
+
<mesh filename="meshes/visual/idx-F1.glb"/>
|
| 394 |
+
</geometry>
|
| 395 |
+
</visual>
|
| 396 |
+
<collision> <!-- pinky_L1 -->
|
| 397 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 398 |
+
<geometry>
|
| 399 |
+
<sphere radius="0.0085"/>
|
| 400 |
+
</geometry>
|
| 401 |
+
</collision>
|
| 402 |
+
<collision>
|
| 403 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 404 |
+
<geometry>
|
| 405 |
+
<box size="0.028 0.012 0.016"/>
|
| 406 |
+
</geometry>
|
| 407 |
+
</collision>
|
| 408 |
+
<collision>
|
| 409 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 410 |
+
<geometry>
|
| 411 |
+
<box size="0.02 0.01 0.016"/>
|
| 412 |
+
</geometry>
|
| 413 |
+
</collision>
|
| 414 |
+
<collision>
|
| 415 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 416 |
+
<geometry>
|
| 417 |
+
<box size="0.012 0.012 0.002"/>
|
| 418 |
+
</geometry>
|
| 419 |
+
</collision>
|
| 420 |
+
<collision>
|
| 421 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 422 |
+
<geometry>
|
| 423 |
+
<box size="0.012 0.012 0.002"/>
|
| 424 |
+
</geometry>
|
| 425 |
+
</collision>
|
| 426 |
+
</link>
|
| 427 |
+
<link name="pinky_L2">
|
| 428 |
+
<inertial>
|
| 429 |
+
<mass value="0.00645"/>
|
| 430 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 431 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 432 |
+
</inertial>
|
| 433 |
+
<visual name="pinky_mesh_2">
|
| 434 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 435 |
+
<geometry>
|
| 436 |
+
<mesh filename="meshes/visual/idx-F2.glb"/>
|
| 437 |
+
</geometry>
|
| 438 |
+
</visual>
|
| 439 |
+
<collision> <!-- pinky_L2 -->
|
| 440 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 441 |
+
<geometry>
|
| 442 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 443 |
+
</geometry>
|
| 444 |
+
</collision>
|
| 445 |
+
<collision>
|
| 446 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 447 |
+
<geometry>
|
| 448 |
+
<sphere radius="0.007"/>
|
| 449 |
+
</geometry>
|
| 450 |
+
</collision>
|
| 451 |
+
</link>
|
| 452 |
+
<joint name="pinky_q1" type="revolute">
|
| 453 |
+
<parent link="thumb_base"/>
|
| 454 |
+
<child link="pinky_L1"/>
|
| 455 |
+
<origin xyz="49.521293e-3 -11.004583e-3 -63.029065e-3" rpy="-1.765110 1.322220 -1.658383"/>
|
| 456 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 457 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 458 |
+
<axis xyz="0 0 1"/>
|
| 459 |
+
</joint>
|
| 460 |
+
<joint name="pinky_q2" type="revolute">
|
| 461 |
+
<parent link="pinky_L1"/>
|
| 462 |
+
<child link="pinky_L2"/>
|
| 463 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 464 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 465 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 466 |
+
<axis xyz="0 0 1"/>
|
| 467 |
+
<mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 468 |
+
</joint>
|
| 469 |
+
<link name="pinky_tip"/>
|
| 470 |
+
<joint name="pinky_tip_joint" type="fixed">
|
| 471 |
+
<parent link="pinky_L2"/>
|
| 472 |
+
<child link="pinky_tip"/>
|
| 473 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 474 |
+
</joint>
|
| 475 |
+
</robot>
|
hands/ability_hand/ability_hand_right.urdf
ADDED
|
@@ -0,0 +1,475 @@
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<robot name="ability_hand">
|
| 2 |
+
<link name="base_link"/>
|
| 3 |
+
<joint name="base_joint" type="fixed">
|
| 4 |
+
<parent link="base_link"/>
|
| 5 |
+
<child link="base"/>
|
| 6 |
+
<origin xyz="0 0 0" rpy="0 0 -1.57079"/>
|
| 7 |
+
</joint>
|
| 8 |
+
<link name="base">
|
| 9 |
+
<visual name="wrist_mesh">
|
| 10 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/visual/wristmesh.obj"/>
|
| 13 |
+
</geometry>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision>
|
| 16 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 17 |
+
<geometry>
|
| 18 |
+
<mesh filename="meshes/collision/wristmesh_C.obj"/>
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
<inertial> <!-- the mass and inertia here are NOT correct -->
|
| 22 |
+
<mass value="0.200"/>
|
| 23 |
+
<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
|
| 24 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 25 |
+
</inertial>
|
| 26 |
+
</link>
|
| 27 |
+
<joint name="wrist2thumb" type="fixed">
|
| 28 |
+
<parent link="base"/>
|
| 29 |
+
<child link="thumb_base"/>
|
| 30 |
+
<origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 -0.08848813 -3.14036612"/>
|
| 31 |
+
</joint>
|
| 32 |
+
<link name="thumb_base">
|
| 33 |
+
<inertial>
|
| 34 |
+
<mass value="0.200"/>
|
| 35 |
+
<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
|
| 36 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 37 |
+
</inertial>
|
| 38 |
+
<visual name="palm_mesh">
|
| 39 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 40 |
+
<geometry>
|
| 41 |
+
<mesh filename="meshes/visual/FB_palm_ref_MIR.obj"/>
|
| 42 |
+
</geometry>
|
| 43 |
+
</visual>
|
| 44 |
+
<collision> <!-- thumb_base -->
|
| 45 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 46 |
+
<geometry>
|
| 47 |
+
<mesh filename="meshes/collision/FB_palm_ref_MIR.obj"/>
|
| 48 |
+
</geometry>
|
| 49 |
+
</collision>
|
| 50 |
+
</link>
|
| 51 |
+
<link name="thumb_L1">
|
| 52 |
+
<inertial>
|
| 53 |
+
<mass value="0.00268342"/>
|
| 54 |
+
<inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
|
| 55 |
+
<origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
|
| 56 |
+
</inertial>
|
| 57 |
+
<visual name="thumb_mesh_1">
|
| 58 |
+
<origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
|
| 59 |
+
<geometry>
|
| 60 |
+
<mesh filename="meshes/visual/thumb-F1-MIR.obj"/>
|
| 61 |
+
</geometry>
|
| 62 |
+
</visual>
|
| 63 |
+
<collision> <!-- thumb_L1 -->
|
| 64 |
+
<origin xyz="27.8283501e-3 1.7436510745838653e-19 14.7507e-3" rpy="1.832595714594045 -0.0 5.366520605522463e-18"/>
|
| 65 |
+
<geometry>
|
| 66 |
+
<mesh filename="meshes/collision/thumb-F1-MIR_C.obj"/>
|
| 67 |
+
</geometry>
|
| 68 |
+
</collision>
|
| 69 |
+
</link>
|
| 70 |
+
<link name="thumb_L2">
|
| 71 |
+
<inertial>
|
| 72 |
+
<mass value="0.0055"/>
|
| 73 |
+
<inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
|
| 74 |
+
<origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
|
| 75 |
+
</inertial>
|
| 76 |
+
<visual name="thumb_mesh_2">
|
| 77 |
+
<origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh filename="meshes/visual/thumb-F2.obj"/>
|
| 80 |
+
</geometry>
|
| 81 |
+
</visual>
|
| 82 |
+
<collision> <!-- thumb_L2 -->
|
| 83 |
+
<origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
|
| 84 |
+
<geometry>
|
| 85 |
+
<mesh filename="meshes/collision/thumb-F2_C.obj"/>
|
| 86 |
+
</geometry>
|
| 87 |
+
</collision>
|
| 88 |
+
</link>
|
| 89 |
+
<joint name="thumb_q1" type="revolute">
|
| 90 |
+
<parent link="thumb_base"/>
|
| 91 |
+
<child link="thumb_L1"/>
|
| 92 |
+
<origin xyz=" 0.0 0.0 0.0 " rpy=" 3.141592653589793 -0.0 -0.18884434641020664 "/>
|
| 93 |
+
<axis xyz="0 0 1"/>
|
| 94 |
+
<limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 95 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 96 |
+
</joint>
|
| 97 |
+
<joint name="thumb_q2" type="revolute">
|
| 98 |
+
<parent link="thumb_L1"/>
|
| 99 |
+
<child link="thumb_L2"/>
|
| 100 |
+
<origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
|
| 101 |
+
<axis xyz="0 0 1"/>
|
| 102 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 103 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 104 |
+
</joint>
|
| 105 |
+
<link name="thumb_tip"/>
|
| 106 |
+
<joint name="thumb_tip_joint" type="fixed">
|
| 107 |
+
<parent link="thumb_L2"/>
|
| 108 |
+
<child link="thumb_tip"/>
|
| 109 |
+
<origin rpy="0 0 0" xyz="0.065 0.016 0"/>
|
| 110 |
+
</joint>
|
| 111 |
+
<link name="index_L1">
|
| 112 |
+
<inertial>
|
| 113 |
+
<mass value="0.00635888"/>
|
| 114 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 115 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 116 |
+
</inertial>
|
| 117 |
+
<visual name="index_mesh_1">
|
| 118 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 119 |
+
<geometry>
|
| 120 |
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
| 121 |
+
</geometry>
|
| 122 |
+
</visual>
|
| 123 |
+
<collision> <!-- index_L1 -->
|
| 124 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 125 |
+
<geometry>
|
| 126 |
+
<sphere radius="0.0085"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
</collision>
|
| 129 |
+
<collision>
|
| 130 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 131 |
+
<geometry>
|
| 132 |
+
<box size="0.028 0.012 0.016"/>
|
| 133 |
+
</geometry>
|
| 134 |
+
</collision>
|
| 135 |
+
<collision>
|
| 136 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 137 |
+
<geometry>
|
| 138 |
+
<box size="0.02 0.01 0.016"/>
|
| 139 |
+
</geometry>
|
| 140 |
+
</collision>
|
| 141 |
+
<collision>
|
| 142 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 143 |
+
<geometry>
|
| 144 |
+
<box size="0.012 0.012 0.002"/>
|
| 145 |
+
</geometry>
|
| 146 |
+
</collision>
|
| 147 |
+
<collision>
|
| 148 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 149 |
+
<geometry>
|
| 150 |
+
<box size="0.012 0.012 0.002"/>
|
| 151 |
+
</geometry>
|
| 152 |
+
</collision>
|
| 153 |
+
</link>
|
| 154 |
+
<link name="index_L2">
|
| 155 |
+
<inertial>
|
| 156 |
+
<mass value="0.00645"/>
|
| 157 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 158 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 159 |
+
</inertial>
|
| 160 |
+
<visual name="index_mesh_2">
|
| 161 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 162 |
+
<geometry>
|
| 163 |
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
</visual>
|
| 166 |
+
<collision> <!-- index_L2 -->
|
| 167 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 168 |
+
<geometry>
|
| 169 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 170 |
+
</geometry>
|
| 171 |
+
</collision>
|
| 172 |
+
<collision>
|
| 173 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 174 |
+
<geometry>
|
| 175 |
+
<sphere radius="0.007"/>
|
| 176 |
+
</geometry>
|
| 177 |
+
</collision>
|
| 178 |
+
</link>
|
| 179 |
+
<joint name="index_q1" type="revolute">
|
| 180 |
+
<parent link="thumb_base"/>
|
| 181 |
+
<child link="index_L1"/>
|
| 182 |
+
<origin xyz=" 9.49e-3 -13.04e-3 -62.95e-3 " rpy=" -1.1595426535897932 1.284473 -1.0510016535897932 "/>
|
| 183 |
+
<axis xyz="0 0 1"/>
|
| 184 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 185 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 186 |
+
</joint>
|
| 187 |
+
<joint name="index_q2" type="revolute">
|
| 188 |
+
<parent link="index_L1"/>
|
| 189 |
+
<child link="index_L2"/>
|
| 190 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
|
| 191 |
+
<axis xyz="0 0 1"/>
|
| 192 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 193 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 194 |
+
<mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="index_tip"/>
|
| 197 |
+
<joint name="index_tip_joint" type="fixed">
|
| 198 |
+
<parent link="index_L2"/>
|
| 199 |
+
<child link="index_tip"/>
|
| 200 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<link name="middle_L1">
|
| 203 |
+
<inertial>
|
| 204 |
+
<mass value="0.00635888"/>
|
| 205 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 206 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 207 |
+
</inertial>
|
| 208 |
+
<visual name="middle_mesh_1">
|
| 209 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 210 |
+
<geometry>
|
| 211 |
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
| 212 |
+
</geometry>
|
| 213 |
+
</visual>
|
| 214 |
+
<collision> <!-- middle_L1 -->
|
| 215 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 216 |
+
<geometry>
|
| 217 |
+
<sphere radius="0.0085"/>
|
| 218 |
+
</geometry>
|
| 219 |
+
</collision>
|
| 220 |
+
<collision>
|
| 221 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 222 |
+
<geometry>
|
| 223 |
+
<box size="0.028 0.012 0.016"/>
|
| 224 |
+
</geometry>
|
| 225 |
+
</collision>
|
| 226 |
+
<collision>
|
| 227 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 228 |
+
<geometry>
|
| 229 |
+
<box size="0.02 0.01 0.016"/>
|
| 230 |
+
</geometry>
|
| 231 |
+
</collision>
|
| 232 |
+
<collision>
|
| 233 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 234 |
+
<geometry>
|
| 235 |
+
<box size="0.012 0.012 0.002"/>
|
| 236 |
+
</geometry>
|
| 237 |
+
</collision>
|
| 238 |
+
<collision>
|
| 239 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 240 |
+
<geometry>
|
| 241 |
+
<box size="0.012 0.012 0.002"/>
|
| 242 |
+
</geometry>
|
| 243 |
+
</collision>
|
| 244 |
+
</link>
|
| 245 |
+
<link name="middle_L2">
|
| 246 |
+
<inertial>
|
| 247 |
+
<mass value="0.00645"/>
|
| 248 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 249 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 250 |
+
</inertial>
|
| 251 |
+
<visual name="middle_mesh_2">
|
| 252 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 253 |
+
<geometry>
|
| 254 |
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
| 255 |
+
</geometry>
|
| 256 |
+
</visual>
|
| 257 |
+
<collision> <!-- middle_L2 -->
|
| 258 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 259 |
+
<geometry>
|
| 260 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 261 |
+
</geometry>
|
| 262 |
+
</collision>
|
| 263 |
+
<collision>
|
| 264 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 265 |
+
<geometry>
|
| 266 |
+
<sphere radius="0.007"/>
|
| 267 |
+
</geometry>
|
| 268 |
+
</collision>
|
| 269 |
+
</link>
|
| 270 |
+
<joint name="middle_q1" type="revolute">
|
| 271 |
+
<parent link="thumb_base"/>
|
| 272 |
+
<child link="middle_L1"/>
|
| 273 |
+
<origin xyz=" -9.653191e-3 -15.310271e-3 -67.853949e-3 " rpy=" -1.2810616535897934 1.308458 -1.2453756535897933 "/>
|
| 274 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 275 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 276 |
+
<axis xyz="0 0 1"/>
|
| 277 |
+
</joint>
|
| 278 |
+
<joint name="middle_q2" type="revolute">
|
| 279 |
+
<parent link="middle_L1"/>
|
| 280 |
+
<child link="middle_L2"/>
|
| 281 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 282 |
+
<axis xyz="0 0 1"/>
|
| 283 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 284 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 285 |
+
<mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 286 |
+
</joint>
|
| 287 |
+
<link name="middle_tip"/>
|
| 288 |
+
<joint name="middle_tip_joint" type="fixed">
|
| 289 |
+
<parent link="middle_L2"/>
|
| 290 |
+
<child link="middle_tip"/>
|
| 291 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 292 |
+
</joint>
|
| 293 |
+
<link name="ring_L1">
|
| 294 |
+
<inertial>
|
| 295 |
+
<mass value="0.00635888"/>
|
| 296 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 297 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 298 |
+
</inertial>
|
| 299 |
+
<visual name="ring_mesh_1">
|
| 300 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 301 |
+
<geometry>
|
| 302 |
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
| 303 |
+
</geometry>
|
| 304 |
+
</visual>
|
| 305 |
+
<collision> <!-- ring_L1 -->
|
| 306 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 307 |
+
<geometry>
|
| 308 |
+
<sphere radius="0.0085"/>
|
| 309 |
+
</geometry>
|
| 310 |
+
</collision>
|
| 311 |
+
<collision>
|
| 312 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 313 |
+
<geometry>
|
| 314 |
+
<box size="0.028 0.012 0.016"/>
|
| 315 |
+
</geometry>
|
| 316 |
+
</collision>
|
| 317 |
+
<collision>
|
| 318 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 319 |
+
<geometry>
|
| 320 |
+
<box size="0.02 0.01 0.016"/>
|
| 321 |
+
</geometry>
|
| 322 |
+
</collision>
|
| 323 |
+
<collision>
|
| 324 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 325 |
+
<geometry>
|
| 326 |
+
<box size="0.012 0.012 0.002"/>
|
| 327 |
+
</geometry>
|
| 328 |
+
</collision>
|
| 329 |
+
<collision>
|
| 330 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 331 |
+
<geometry>
|
| 332 |
+
<box size="0.012 0.012 0.002"/>
|
| 333 |
+
</geometry>
|
| 334 |
+
</collision>
|
| 335 |
+
</link>
|
| 336 |
+
<link name="ring_L2">
|
| 337 |
+
<inertial>
|
| 338 |
+
<mass value="0.00645"/>
|
| 339 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 340 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 341 |
+
</inertial>
|
| 342 |
+
<visual name="ring_mesh_2">
|
| 343 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 344 |
+
<geometry>
|
| 345 |
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
| 346 |
+
</geometry>
|
| 347 |
+
</visual>
|
| 348 |
+
<collision> <!-- ring_L2 -->
|
| 349 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 350 |
+
<geometry>
|
| 351 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 352 |
+
</geometry>
|
| 353 |
+
</collision>
|
| 354 |
+
<collision>
|
| 355 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<sphere radius="0.007"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
</collision>
|
| 360 |
+
</link>
|
| 361 |
+
<joint name="ring_q1" type="revolute">
|
| 362 |
+
<parent link="thumb_base"/>
|
| 363 |
+
<child link="ring_L1"/>
|
| 364 |
+
<origin xyz=" -29.95426e-3 -14.212492e-3 -67.286105e-3 " rpy=" -1.424994653589793 1.321452 -1.4657306535897934 "/>
|
| 365 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 366 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 367 |
+
<axis xyz="0 0 1"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<joint name="ring_q2" type="revolute">
|
| 370 |
+
<parent link="ring_L1"/>
|
| 371 |
+
<child link="ring_L2"/>
|
| 372 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 373 |
+
<axis xyz="0 0 1"/>
|
| 374 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 375 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 376 |
+
<mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 377 |
+
</joint>
|
| 378 |
+
<link name="ring_tip"/>
|
| 379 |
+
<joint name="ring_tip_joint" type="fixed">
|
| 380 |
+
<parent link="ring_L2"/>
|
| 381 |
+
<child link="ring_tip"/>
|
| 382 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 383 |
+
</joint>
|
| 384 |
+
<link name="pinky_L1">
|
| 385 |
+
<inertial>
|
| 386 |
+
<mass value="0.00635888"/>
|
| 387 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 388 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 389 |
+
</inertial>
|
| 390 |
+
<visual name="pinky_mesh_1">
|
| 391 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 392 |
+
<geometry>
|
| 393 |
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
| 394 |
+
</geometry>
|
| 395 |
+
</visual>
|
| 396 |
+
<collision> <!-- pinky_L1 -->
|
| 397 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 398 |
+
<geometry>
|
| 399 |
+
<sphere radius="0.0085"/>
|
| 400 |
+
</geometry>
|
| 401 |
+
</collision>
|
| 402 |
+
<collision>
|
| 403 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 404 |
+
<geometry>
|
| 405 |
+
<box size="0.028 0.012 0.016"/>
|
| 406 |
+
</geometry>
|
| 407 |
+
</collision>
|
| 408 |
+
<collision>
|
| 409 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 410 |
+
<geometry>
|
| 411 |
+
<box size="0.02 0.01 0.016"/>
|
| 412 |
+
</geometry>
|
| 413 |
+
</collision>
|
| 414 |
+
<collision>
|
| 415 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 416 |
+
<geometry>
|
| 417 |
+
<box size="0.012 0.012 0.002"/>
|
| 418 |
+
</geometry>
|
| 419 |
+
</collision>
|
| 420 |
+
<collision>
|
| 421 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 422 |
+
<geometry>
|
| 423 |
+
<box size="0.012 0.012 0.002"/>
|
| 424 |
+
</geometry>
|
| 425 |
+
</collision>
|
| 426 |
+
</link>
|
| 427 |
+
<link name="pinky_L2">
|
| 428 |
+
<inertial>
|
| 429 |
+
<mass value="0.00645"/>
|
| 430 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 431 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 432 |
+
</inertial>
|
| 433 |
+
<visual name="pinky_mesh_2">
|
| 434 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 435 |
+
<geometry>
|
| 436 |
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
| 437 |
+
</geometry>
|
| 438 |
+
</visual>
|
| 439 |
+
<collision> <!-- pinky_L2 -->
|
| 440 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 441 |
+
<geometry>
|
| 442 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 443 |
+
</geometry>
|
| 444 |
+
</collision>
|
| 445 |
+
<collision>
|
| 446 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 447 |
+
<geometry>
|
| 448 |
+
<sphere radius="0.007"/>
|
| 449 |
+
</geometry>
|
| 450 |
+
</collision>
|
| 451 |
+
</link>
|
| 452 |
+
<joint name="pinky_q1" type="revolute">
|
| 453 |
+
<parent link="thumb_base"/>
|
| 454 |
+
<child link="pinky_L1"/>
|
| 455 |
+
<origin xyz=" -49.521293e-3 -11.004583e-3 -63.029065e-3 " rpy=" -1.3764826535897934 1.32222 -1.4832096535897932 "/>
|
| 456 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 457 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 458 |
+
<axis xyz="0 0 1"/>
|
| 459 |
+
</joint>
|
| 460 |
+
<joint name="pinky_q2" type="revolute">
|
| 461 |
+
<parent link="pinky_L1"/>
|
| 462 |
+
<child link="pinky_L2"/>
|
| 463 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 464 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 465 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 466 |
+
<axis xyz="0 0 1"/>
|
| 467 |
+
<mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 468 |
+
</joint>
|
| 469 |
+
<link name="pinky_tip"/>
|
| 470 |
+
<joint name="pinky_tip_joint" type="fixed">
|
| 471 |
+
<parent link="pinky_L2"/>
|
| 472 |
+
<child link="pinky_tip"/>
|
| 473 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 474 |
+
</joint>
|
| 475 |
+
</robot>
|
hands/ability_hand/ability_hand_right_glb.urdf
ADDED
|
@@ -0,0 +1,475 @@
|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<robot name="ability_hand">
|
| 2 |
+
<link name="base_link"/>
|
| 3 |
+
<joint name="base_joint" type="fixed">
|
| 4 |
+
<parent link="base_link"/>
|
| 5 |
+
<child link="base"/>
|
| 6 |
+
<origin xyz="0 0 0" rpy="0 0 -1.57079"/>
|
| 7 |
+
</joint>
|
| 8 |
+
<link name="base">
|
| 9 |
+
<visual name="wrist_mesh">
|
| 10 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/visual/wristmesh.glb"/>
|
| 13 |
+
</geometry>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision>
|
| 16 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 17 |
+
<geometry>
|
| 18 |
+
<mesh filename="meshes/collision/wristmesh_C.obj"/>
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
<inertial> <!-- the mass and inertia here are NOT correct -->
|
| 22 |
+
<mass value="0.200"/>
|
| 23 |
+
<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
|
| 24 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 25 |
+
</inertial>
|
| 26 |
+
</link>
|
| 27 |
+
<joint name="wrist2thumb" type="fixed">
|
| 28 |
+
<parent link="base"/>
|
| 29 |
+
<child link="thumb_base"/>
|
| 30 |
+
<origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 -0.08848813 -3.14036612"/>
|
| 31 |
+
</joint>
|
| 32 |
+
<link name="thumb_base">
|
| 33 |
+
<inertial>
|
| 34 |
+
<mass value="0.200"/>
|
| 35 |
+
<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
|
| 36 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 37 |
+
</inertial>
|
| 38 |
+
<visual name="palm_mesh">
|
| 39 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 40 |
+
<geometry>
|
| 41 |
+
<mesh filename="meshes/visual/FB_palm_ref_MIR.glb"/>
|
| 42 |
+
</geometry>
|
| 43 |
+
</visual>
|
| 44 |
+
<collision> <!-- thumb_base -->
|
| 45 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 46 |
+
<geometry>
|
| 47 |
+
<mesh filename="meshes/collision/FB_palm_ref_MIR.obj"/>
|
| 48 |
+
</geometry>
|
| 49 |
+
</collision>
|
| 50 |
+
</link>
|
| 51 |
+
<link name="thumb_L1">
|
| 52 |
+
<inertial>
|
| 53 |
+
<mass value="0.00268342"/>
|
| 54 |
+
<inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
|
| 55 |
+
<origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
|
| 56 |
+
</inertial>
|
| 57 |
+
<visual name="thumb_mesh_1">
|
| 58 |
+
<origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
|
| 59 |
+
<geometry>
|
| 60 |
+
<mesh filename="meshes/visual/thumb-F1-MIR.glb"/>
|
| 61 |
+
</geometry>
|
| 62 |
+
</visual>
|
| 63 |
+
<collision> <!-- thumb_L1 -->
|
| 64 |
+
<origin xyz="27.8283501e-3 1.7436510745838653e-19 14.7507e-3" rpy="1.832595714594045 -0.0 5.366520605522463e-18"/>
|
| 65 |
+
<geometry>
|
| 66 |
+
<mesh filename="meshes/collision/thumb-F1-MIR_C.obj"/>
|
| 67 |
+
</geometry>
|
| 68 |
+
</collision>
|
| 69 |
+
</link>
|
| 70 |
+
<link name="thumb_L2">
|
| 71 |
+
<inertial>
|
| 72 |
+
<mass value="0.0055"/>
|
| 73 |
+
<inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
|
| 74 |
+
<origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
|
| 75 |
+
</inertial>
|
| 76 |
+
<visual name="thumb_mesh_2">
|
| 77 |
+
<origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh filename="meshes/visual/thumb-F2.glb"/>
|
| 80 |
+
</geometry>
|
| 81 |
+
</visual>
|
| 82 |
+
<collision> <!-- thumb_L2 -->
|
| 83 |
+
<origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
|
| 84 |
+
<geometry>
|
| 85 |
+
<mesh filename="meshes/collision/thumb-F2_C.obj"/>
|
| 86 |
+
</geometry>
|
| 87 |
+
</collision>
|
| 88 |
+
</link>
|
| 89 |
+
<joint name="thumb_q1" type="revolute">
|
| 90 |
+
<parent link="thumb_base"/>
|
| 91 |
+
<child link="thumb_L1"/>
|
| 92 |
+
<origin xyz=" 0.0 0.0 0.0 " rpy=" 3.141592653589793 -0.0 -0.18884434641020664 "/>
|
| 93 |
+
<axis xyz="0 0 1"/>
|
| 94 |
+
<limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 95 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 96 |
+
</joint>
|
| 97 |
+
<joint name="thumb_q2" type="revolute">
|
| 98 |
+
<parent link="thumb_L1"/>
|
| 99 |
+
<child link="thumb_L2"/>
|
| 100 |
+
<origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
|
| 101 |
+
<axis xyz="0 0 1"/>
|
| 102 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 103 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 104 |
+
</joint>
|
| 105 |
+
<link name="thumb_tip"/>
|
| 106 |
+
<joint name="thumb_tip_joint" type="fixed">
|
| 107 |
+
<parent link="thumb_L2"/>
|
| 108 |
+
<child link="thumb_tip"/>
|
| 109 |
+
<origin rpy="0 0 0" xyz="0.065 0.016 0"/>
|
| 110 |
+
</joint>
|
| 111 |
+
<link name="index_L1">
|
| 112 |
+
<inertial>
|
| 113 |
+
<mass value="0.00635888"/>
|
| 114 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 115 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 116 |
+
</inertial>
|
| 117 |
+
<visual name="index_mesh_1">
|
| 118 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 119 |
+
<geometry>
|
| 120 |
+
<mesh filename="meshes/visual/idx-F1.glb"/>
|
| 121 |
+
</geometry>
|
| 122 |
+
</visual>
|
| 123 |
+
<collision> <!-- index_L1 -->
|
| 124 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 125 |
+
<geometry>
|
| 126 |
+
<sphere radius="0.0085"/>
|
| 127 |
+
</geometry>
|
| 128 |
+
</collision>
|
| 129 |
+
<collision>
|
| 130 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 131 |
+
<geometry>
|
| 132 |
+
<box size="0.028 0.012 0.016"/>
|
| 133 |
+
</geometry>
|
| 134 |
+
</collision>
|
| 135 |
+
<collision>
|
| 136 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 137 |
+
<geometry>
|
| 138 |
+
<box size="0.02 0.01 0.016"/>
|
| 139 |
+
</geometry>
|
| 140 |
+
</collision>
|
| 141 |
+
<collision>
|
| 142 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 143 |
+
<geometry>
|
| 144 |
+
<box size="0.012 0.012 0.002"/>
|
| 145 |
+
</geometry>
|
| 146 |
+
</collision>
|
| 147 |
+
<collision>
|
| 148 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 149 |
+
<geometry>
|
| 150 |
+
<box size="0.012 0.012 0.002"/>
|
| 151 |
+
</geometry>
|
| 152 |
+
</collision>
|
| 153 |
+
</link>
|
| 154 |
+
<link name="index_L2">
|
| 155 |
+
<inertial>
|
| 156 |
+
<mass value="0.00645"/>
|
| 157 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 158 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 159 |
+
</inertial>
|
| 160 |
+
<visual name="index_mesh_2">
|
| 161 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 162 |
+
<geometry>
|
| 163 |
+
<mesh filename="meshes/visual/idx-F2.glb"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
</visual>
|
| 166 |
+
<collision> <!-- index_L2 -->
|
| 167 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 168 |
+
<geometry>
|
| 169 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 170 |
+
</geometry>
|
| 171 |
+
</collision>
|
| 172 |
+
<collision>
|
| 173 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 174 |
+
<geometry>
|
| 175 |
+
<sphere radius="0.007"/>
|
| 176 |
+
</geometry>
|
| 177 |
+
</collision>
|
| 178 |
+
</link>
|
| 179 |
+
<joint name="index_q1" type="revolute">
|
| 180 |
+
<parent link="thumb_base"/>
|
| 181 |
+
<child link="index_L1"/>
|
| 182 |
+
<origin xyz=" 9.49e-3 -13.04e-3 -62.95e-3 " rpy=" -1.1595426535897932 1.284473 -1.0510016535897932 "/>
|
| 183 |
+
<axis xyz="0 0 1"/>
|
| 184 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 185 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 186 |
+
</joint>
|
| 187 |
+
<joint name="index_q2" type="revolute">
|
| 188 |
+
<parent link="index_L1"/>
|
| 189 |
+
<child link="index_L2"/>
|
| 190 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
|
| 191 |
+
<axis xyz="0 0 1"/>
|
| 192 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 193 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 194 |
+
<mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="index_tip"/>
|
| 197 |
+
<joint name="index_tip_joint" type="fixed">
|
| 198 |
+
<parent link="index_L2"/>
|
| 199 |
+
<child link="index_tip"/>
|
| 200 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<link name="middle_L1">
|
| 203 |
+
<inertial>
|
| 204 |
+
<mass value="0.00635888"/>
|
| 205 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 206 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 207 |
+
</inertial>
|
| 208 |
+
<visual name="middle_mesh_1">
|
| 209 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 210 |
+
<geometry>
|
| 211 |
+
<mesh filename="meshes/visual/idx-F1.glb"/>
|
| 212 |
+
</geometry>
|
| 213 |
+
</visual>
|
| 214 |
+
<collision> <!-- middle_L1 -->
|
| 215 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 216 |
+
<geometry>
|
| 217 |
+
<sphere radius="0.0085"/>
|
| 218 |
+
</geometry>
|
| 219 |
+
</collision>
|
| 220 |
+
<collision>
|
| 221 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 222 |
+
<geometry>
|
| 223 |
+
<box size="0.028 0.012 0.016"/>
|
| 224 |
+
</geometry>
|
| 225 |
+
</collision>
|
| 226 |
+
<collision>
|
| 227 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 228 |
+
<geometry>
|
| 229 |
+
<box size="0.02 0.01 0.016"/>
|
| 230 |
+
</geometry>
|
| 231 |
+
</collision>
|
| 232 |
+
<collision>
|
| 233 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 234 |
+
<geometry>
|
| 235 |
+
<box size="0.012 0.012 0.002"/>
|
| 236 |
+
</geometry>
|
| 237 |
+
</collision>
|
| 238 |
+
<collision>
|
| 239 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 240 |
+
<geometry>
|
| 241 |
+
<box size="0.012 0.012 0.002"/>
|
| 242 |
+
</geometry>
|
| 243 |
+
</collision>
|
| 244 |
+
</link>
|
| 245 |
+
<link name="middle_L2">
|
| 246 |
+
<inertial>
|
| 247 |
+
<mass value="0.00645"/>
|
| 248 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 249 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 250 |
+
</inertial>
|
| 251 |
+
<visual name="middle_mesh_2">
|
| 252 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 253 |
+
<geometry>
|
| 254 |
+
<mesh filename="meshes/visual/idx-F2.glb"/>
|
| 255 |
+
</geometry>
|
| 256 |
+
</visual>
|
| 257 |
+
<collision> <!-- middle_L2 -->
|
| 258 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 259 |
+
<geometry>
|
| 260 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 261 |
+
</geometry>
|
| 262 |
+
</collision>
|
| 263 |
+
<collision>
|
| 264 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 265 |
+
<geometry>
|
| 266 |
+
<sphere radius="0.007"/>
|
| 267 |
+
</geometry>
|
| 268 |
+
</collision>
|
| 269 |
+
</link>
|
| 270 |
+
<joint name="middle_q1" type="revolute">
|
| 271 |
+
<parent link="thumb_base"/>
|
| 272 |
+
<child link="middle_L1"/>
|
| 273 |
+
<origin xyz=" -9.653191e-3 -15.310271e-3 -67.853949e-3 " rpy=" -1.2810616535897934 1.308458 -1.2453756535897933 "/>
|
| 274 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 275 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 276 |
+
<axis xyz="0 0 1"/>
|
| 277 |
+
</joint>
|
| 278 |
+
<joint name="middle_q2" type="revolute">
|
| 279 |
+
<parent link="middle_L1"/>
|
| 280 |
+
<child link="middle_L2"/>
|
| 281 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 282 |
+
<axis xyz="0 0 1"/>
|
| 283 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 284 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 285 |
+
<mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 286 |
+
</joint>
|
| 287 |
+
<link name="middle_tip"/>
|
| 288 |
+
<joint name="middle_tip_joint" type="fixed">
|
| 289 |
+
<parent link="middle_L2"/>
|
| 290 |
+
<child link="middle_tip"/>
|
| 291 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 292 |
+
</joint>
|
| 293 |
+
<link name="ring_L1">
|
| 294 |
+
<inertial>
|
| 295 |
+
<mass value="0.00635888"/>
|
| 296 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 297 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 298 |
+
</inertial>
|
| 299 |
+
<visual name="ring_mesh_1">
|
| 300 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 301 |
+
<geometry>
|
| 302 |
+
<mesh filename="meshes/visual/idx-F1.glb"/>
|
| 303 |
+
</geometry>
|
| 304 |
+
</visual>
|
| 305 |
+
<collision> <!-- ring_L1 -->
|
| 306 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 307 |
+
<geometry>
|
| 308 |
+
<sphere radius="0.0085"/>
|
| 309 |
+
</geometry>
|
| 310 |
+
</collision>
|
| 311 |
+
<collision>
|
| 312 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 313 |
+
<geometry>
|
| 314 |
+
<box size="0.028 0.012 0.016"/>
|
| 315 |
+
</geometry>
|
| 316 |
+
</collision>
|
| 317 |
+
<collision>
|
| 318 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 319 |
+
<geometry>
|
| 320 |
+
<box size="0.02 0.01 0.016"/>
|
| 321 |
+
</geometry>
|
| 322 |
+
</collision>
|
| 323 |
+
<collision>
|
| 324 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 325 |
+
<geometry>
|
| 326 |
+
<box size="0.012 0.012 0.002"/>
|
| 327 |
+
</geometry>
|
| 328 |
+
</collision>
|
| 329 |
+
<collision>
|
| 330 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 331 |
+
<geometry>
|
| 332 |
+
<box size="0.012 0.012 0.002"/>
|
| 333 |
+
</geometry>
|
| 334 |
+
</collision>
|
| 335 |
+
</link>
|
| 336 |
+
<link name="ring_L2">
|
| 337 |
+
<inertial>
|
| 338 |
+
<mass value="0.00645"/>
|
| 339 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 340 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 341 |
+
</inertial>
|
| 342 |
+
<visual name="ring_mesh_2">
|
| 343 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 344 |
+
<geometry>
|
| 345 |
+
<mesh filename="meshes/visual/idx-F2.glb"/>
|
| 346 |
+
</geometry>
|
| 347 |
+
</visual>
|
| 348 |
+
<collision> <!-- ring_L2 -->
|
| 349 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 350 |
+
<geometry>
|
| 351 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 352 |
+
</geometry>
|
| 353 |
+
</collision>
|
| 354 |
+
<collision>
|
| 355 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<sphere radius="0.007"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
</collision>
|
| 360 |
+
</link>
|
| 361 |
+
<joint name="ring_q1" type="revolute">
|
| 362 |
+
<parent link="thumb_base"/>
|
| 363 |
+
<child link="ring_L1"/>
|
| 364 |
+
<origin xyz=" -29.95426e-3 -14.212492e-3 -67.286105e-3 " rpy=" -1.424994653589793 1.321452 -1.4657306535897934 "/>
|
| 365 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 366 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 367 |
+
<axis xyz="0 0 1"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<joint name="ring_q2" type="revolute">
|
| 370 |
+
<parent link="ring_L1"/>
|
| 371 |
+
<child link="ring_L2"/>
|
| 372 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 373 |
+
<axis xyz="0 0 1"/>
|
| 374 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 375 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 376 |
+
<mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 377 |
+
</joint>
|
| 378 |
+
<link name="ring_tip"/>
|
| 379 |
+
<joint name="ring_tip_joint" type="fixed">
|
| 380 |
+
<parent link="ring_L2"/>
|
| 381 |
+
<child link="ring_tip"/>
|
| 382 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 383 |
+
</joint>
|
| 384 |
+
<link name="pinky_L1">
|
| 385 |
+
<inertial>
|
| 386 |
+
<mass value="0.00635888"/>
|
| 387 |
+
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
|
| 388 |
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
| 389 |
+
</inertial>
|
| 390 |
+
<visual name="pinky_mesh_1">
|
| 391 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 392 |
+
<geometry>
|
| 393 |
+
<mesh filename="meshes/visual/idx-F1.glb"/>
|
| 394 |
+
</geometry>
|
| 395 |
+
</visual>
|
| 396 |
+
<collision> <!-- pinky_L1 -->
|
| 397 |
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
| 398 |
+
<geometry>
|
| 399 |
+
<sphere radius="0.0085"/>
|
| 400 |
+
</geometry>
|
| 401 |
+
</collision>
|
| 402 |
+
<collision>
|
| 403 |
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
| 404 |
+
<geometry>
|
| 405 |
+
<box size="0.028 0.012 0.016"/>
|
| 406 |
+
</geometry>
|
| 407 |
+
</collision>
|
| 408 |
+
<collision>
|
| 409 |
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
| 410 |
+
<geometry>
|
| 411 |
+
<box size="0.02 0.01 0.016"/>
|
| 412 |
+
</geometry>
|
| 413 |
+
</collision>
|
| 414 |
+
<collision>
|
| 415 |
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
| 416 |
+
<geometry>
|
| 417 |
+
<box size="0.012 0.012 0.002"/>
|
| 418 |
+
</geometry>
|
| 419 |
+
</collision>
|
| 420 |
+
<collision>
|
| 421 |
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
| 422 |
+
<geometry>
|
| 423 |
+
<box size="0.012 0.012 0.002"/>
|
| 424 |
+
</geometry>
|
| 425 |
+
</collision>
|
| 426 |
+
</link>
|
| 427 |
+
<link name="pinky_L2">
|
| 428 |
+
<inertial>
|
| 429 |
+
<mass value="0.00645"/>
|
| 430 |
+
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
|
| 431 |
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
| 432 |
+
</inertial>
|
| 433 |
+
<visual name="pinky_mesh_2">
|
| 434 |
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
| 435 |
+
<geometry>
|
| 436 |
+
<mesh filename="meshes/visual/idx-F2.glb"/>
|
| 437 |
+
</geometry>
|
| 438 |
+
</visual>
|
| 439 |
+
<collision> <!-- pinky_L2 -->
|
| 440 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 441 |
+
<geometry>
|
| 442 |
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
| 443 |
+
</geometry>
|
| 444 |
+
</collision>
|
| 445 |
+
<collision>
|
| 446 |
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
| 447 |
+
<geometry>
|
| 448 |
+
<sphere radius="0.007"/>
|
| 449 |
+
</geometry>
|
| 450 |
+
</collision>
|
| 451 |
+
</link>
|
| 452 |
+
<joint name="pinky_q1" type="revolute">
|
| 453 |
+
<parent link="thumb_base"/>
|
| 454 |
+
<child link="pinky_L1"/>
|
| 455 |
+
<origin xyz=" -49.521293e-3 -11.004583e-3 -63.029065e-3 " rpy=" -1.3764826535897934 1.32222 -1.4832096535897932 "/>
|
| 456 |
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 457 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 458 |
+
<axis xyz="0 0 1"/>
|
| 459 |
+
</joint>
|
| 460 |
+
<joint name="pinky_q2" type="revolute">
|
| 461 |
+
<parent link="pinky_L1"/>
|
| 462 |
+
<child link="pinky_L2"/>
|
| 463 |
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
| 464 |
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
| 465 |
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
| 466 |
+
<axis xyz="0 0 1"/>
|
| 467 |
+
<mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
|
| 468 |
+
</joint>
|
| 469 |
+
<link name="pinky_tip"/>
|
| 470 |
+
<joint name="pinky_tip_joint" type="fixed">
|
| 471 |
+
<parent link="pinky_L2"/>
|
| 472 |
+
<child link="pinky_tip"/>
|
| 473 |
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
| 474 |
+
</joint>
|
| 475 |
+
</robot>
|
hands/ability_hand/meshes/collision/FB_palm_ref.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:71c94a39fc3c2aac767a263f621287bf4da21f13cd1cd14caa83d656c0bc75f5
|
| 3 |
+
size 31522
|
hands/ability_hand/meshes/collision/FB_palm_ref_MIR.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3af64e454a1973be4982e8f538ae572ee2563bedea76ca570c65b780781ab433
|
| 3 |
+
size 32872
|
hands/ability_hand/meshes/collision/idx-F2_C.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:b3cc09c18998b5cfca10a577045dee83795d22f7945591eb12b911fd09c3175c
|
| 3 |
+
size 22835
|
hands/ability_hand/meshes/collision/thumb-F1-MIR_C.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:20de784151d7cbdbdb1df9e5383c9037fb661959a516edbbb2fa5873054e6d32
|
| 3 |
+
size 5627
|
hands/ability_hand/meshes/collision/thumb-F1_C.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:cfde72aec713a7cf61440b3010be1043cc4b5f1e1cee759fb7d4968c6bdd8395
|
| 3 |
+
size 5639
|
hands/ability_hand/meshes/collision/thumb-F2_C.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:cee181057eb6010ee002c3f0ac7e66ca82cb0f3c3a3f5b45eb606814ec37e2e0
|
| 3 |
+
size 12656
|
hands/ability_hand/meshes/collision/wristmesh_C.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:683629e54d0711b07f632ba14e83e4cfffd5107ff85ce0734a0dbc78508298cc
|
| 3 |
+
size 15023
|
hands/ability_hand/meshes/visual/FB_palm_ref.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:b66964bdd39a20b9c859c4469fd49d8f70b94552e94df01ceee33224e907cbd9
|
| 3 |
+
size 918408
|
hands/ability_hand/meshes/visual/FB_palm_ref.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
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|
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|
|
|
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|
|
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|
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|
|
| 1 |
+
# Blender MTL File: 'color.blend'
|
| 2 |
+
# Material Count: 1
|
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+
|
| 4 |
+
newmtl palm_silver
|
| 5 |
+
Ns 489.999983
|
| 6 |
+
Ka 0.300000 0.300000 0.300000
|
| 7 |
+
Kd 0.147027 0.165132 0.187821
|
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Ks 0.800000 0.800000 0.800000
|
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Ke 0.000000 0.000000 0.000000
|
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Ni 1.450000
|
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d 1.000000
|
| 12 |
+
illum 3
|
hands/ability_hand/meshes/visual/FB_palm_ref.obj
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:5ffd7705b618756c71fee073d6799b3dae4bb68fb870246a4791a142cc3d11b7
|
| 3 |
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size 1026040
|
hands/ability_hand/meshes/visual/FB_palm_ref_MIR.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:185fb959e23dd65c29ea9086c61f4e24ce468c3eb8de39407887edf0e3ce120d
|
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+
size 707156
|
hands/ability_hand/meshes/visual/FB_palm_ref_MIR.mtl
ADDED
|
@@ -0,0 +1,12 @@
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|
|
|
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|
|
|
|
|
|
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|
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|
|
| 1 |
+
# Blender MTL File: 'color.blend'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl palm_silver
|
| 5 |
+
Ns 489.999983
|
| 6 |
+
Ka 0.300000 0.300000 0.300000
|
| 7 |
+
Kd 0.147027 0.165132 0.187821
|
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Ks 0.800000 0.800000 0.800000
|
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Ke 0.000000 0.000000 0.000000
|
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Ni 1.450000
|
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+
d 1.000000
|
| 12 |
+
illum 3
|
hands/ability_hand/meshes/visual/FB_palm_ref_MIR.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:26ca1cfb231d747224ce0b4f746f6e094ed2596d038c00b492a13674cc4b4e9a
|
| 3 |
+
size 1005301
|
hands/ability_hand/meshes/visual/idx-F1.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:ab7d91d3e0c586133e0a668d63b1c071a8659f6367ff27c619e9e984e36dcbd2
|
| 3 |
+
size 60100
|
hands/ability_hand/meshes/visual/idx-F1.mtl
ADDED
|
@@ -0,0 +1,12 @@
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|
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|
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|
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|
| 1 |
+
# Blender MTL File: 'color.blend'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl rubber_black
|
| 5 |
+
Ns 39.999995
|
| 6 |
+
Ka 0.600000 0.600000 0.600000
|
| 7 |
+
Kd 0.013702 0.015996 0.022174
|
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Ks 1.000000 1.000000 1.000000
|
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+
Ke 0.000000 0.000000 0.000000
|
| 10 |
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Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|
hands/ability_hand/meshes/visual/idx-F1.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
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+
oid sha256:75b874a160bf756a10db31d99c55339ebcb26bc429c5ebcc6b01222f81026006
|
| 3 |
+
size 62705
|
hands/ability_hand/meshes/visual/idx-F2.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
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oid sha256:b26e5dd3f23745f2146bdf3715fdd0a1b9b7a0515040e72ec771b453a064e703
|
| 3 |
+
size 10208
|
hands/ability_hand/meshes/visual/idx-F2.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
# Blender MTL File: 'color.blend'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl rubber_black
|
| 5 |
+
Ns 39.999995
|
| 6 |
+
Ka 0.600000 0.600000 0.600000
|
| 7 |
+
Kd 0.013702 0.015996 0.022174
|
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+
Ks 1.000000 1.000000 1.000000
|
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+
Ke 0.000000 0.000000 0.000000
|
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Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|
hands/ability_hand/meshes/visual/idx-F2.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:458b603364e916b3a45e7d93b12f94d8b1e84fdaa2f48609765bb1e2c36a39cf
|
| 3 |
+
size 26678
|
hands/ability_hand/meshes/visual/thumb-F1-MIR.glb
ADDED
|
@@ -0,0 +1,3 @@
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
+
size 9248
|
hands/ability_hand/meshes/visual/thumb-F1-MIR.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
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|
|
| 1 |
+
# Blender MTL File: 'color.blend'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl rubber_black
|
| 5 |
+
Ns 39.999995
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| 6 |
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Ka 0.600000 0.600000 0.600000
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| 7 |
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Kd 0.013702 0.015996 0.022174
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| 8 |
+
Ks 1.000000 1.000000 1.000000
|
| 9 |
+
Ke 0.000000 0.000000 0.000000
|
| 10 |
+
Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|
hands/ability_hand/meshes/visual/thumb-F1-MIR.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c17073d7166aa71a3ba35bf4536c949a95a6ab4566a7b151b2c2714283fd62aa
|
| 3 |
+
size 8238
|
hands/ability_hand/meshes/visual/thumb-F1.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7c256a928e8d0992a675cb8b804a3f92d11104dc83ea17fd32b24f24d34358b3
|
| 3 |
+
size 3620
|
hands/ability_hand/meshes/visual/thumb-F1.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
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|
|
| 1 |
+
# Blender MTL File: 'color.blend'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl rubber_black
|
| 5 |
+
Ns 39.999995
|
| 6 |
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Ka 0.600000 0.600000 0.600000
|
| 7 |
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Kd 0.013702 0.015996 0.022174
|
| 8 |
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Ks 1.000000 1.000000 1.000000
|
| 9 |
+
Ke 0.000000 0.000000 0.000000
|
| 10 |
+
Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|
hands/ability_hand/meshes/visual/thumb-F1.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e8a595336b0baefc72e7859d4c6d25ceb3d33076fccead439032bbfa9135c20b
|
| 3 |
+
size 6250
|
hands/ability_hand/meshes/visual/thumb-F2.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:540909edd1c4634aa0bf112a32c7f5bf043858b3832992b8b924eb0d6e7765cd
|
| 3 |
+
size 21604
|
hands/ability_hand/meshes/visual/thumb-F2.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
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|
| 1 |
+
# Blender MTL File: 'color.blend'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl rubber_black
|
| 5 |
+
Ns 39.999995
|
| 6 |
+
Ka 0.600000 0.600000 0.600000
|
| 7 |
+
Kd 0.013702 0.015996 0.022174
|
| 8 |
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Ks 1.000000 1.000000 1.000000
|
| 9 |
+
Ke 0.000000 0.000000 0.000000
|
| 10 |
+
Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|
hands/ability_hand/meshes/visual/thumb-F2.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:575cf0f348a59e847697d41342522eff7abafe17b1203633fe36355e4b16b1f5
|
| 3 |
+
size 18604
|
hands/ability_hand/meshes/visual/wristmesh.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
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|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7f920cebe9cef71830f34ebac8bce9553eb3af4db830e528ed254ffe3f7bfa45
|
| 3 |
+
size 2401876
|
hands/ability_hand/meshes/visual/wristmesh.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
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|
| 1 |
+
# Blender MTL File: 'color.blend'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl metal_silver
|
| 5 |
+
Ns 809.999997
|
| 6 |
+
Ka 0.300000 0.300000 0.300000
|
| 7 |
+
Kd 0.208637 0.226966 0.246201
|
| 8 |
+
Ks 1.000000 1.000000 1.000000
|
| 9 |
+
Ke 0.000000 0.000000 0.000000
|
| 10 |
+
Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|
hands/ability_hand/meshes/visual/wristmesh.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bbba82def982ca550dc5a1f5d2129a249895e80998a8116aff7e0d25ce17130f
|
| 3 |
+
size 3569269
|
hands/allegro_hand/LICENSE
ADDED
|
@@ -0,0 +1,15 @@
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|
| 1 |
+
Copyright (c) 2016, SimLab
|
| 2 |
+
All rights reserved.
|
| 3 |
+
|
| 4 |
+
Redistribution and use in source and binary forms, with or without
|
| 5 |
+
modification, are permitted provided that the following conditions are met:
|
| 6 |
+
|
| 7 |
+
* Redistributions of source code must retain the above copyright notice, this
|
| 8 |
+
list of conditions and the following disclaimer.
|
| 9 |
+
|
| 10 |
+
* 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 |
+
|
| 14 |
+
The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
|
| 15 |
+
These modifications included changes to the meshes and the URDF file itself.
|
hands/allegro_hand/allegro_hand_left.urdf
ADDED
|
@@ -0,0 +1,543 @@
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|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<robot name="allegro_left">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<mass value="0.4154"/>
|
| 6 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 7 |
+
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<geometry>
|
| 11 |
+
<mesh filename="meshes/visual/base_link_left.obj"/>
|
| 12 |
+
</geometry>
|
| 13 |
+
<origin rpy="-1.570795 0 0" xyz="0 0 0 "/>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision>
|
| 16 |
+
<origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
|
| 17 |
+
<geometry>
|
| 18 |
+
<box size="0.0414 0.112 0.0448"/>
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
<collision>
|
| 22 |
+
<origin rpy="0 0 0" xyz="-0.009 0.0253 -0.0667"/>
|
| 23 |
+
<geometry>
|
| 24 |
+
<box size="0.0414 0.0538 0.0428"/>
|
| 25 |
+
</geometry>
|
| 26 |
+
</collision>
|
| 27 |
+
<collision>
|
| 28 |
+
<origin rpy="0 0 0" xyz="-0.009300 0.00557 -0.08874"/>
|
| 29 |
+
<geometry>
|
| 30 |
+
<box size="0.0414 0.0720 0.013"/>
|
| 31 |
+
</geometry>
|
| 32 |
+
</collision>
|
| 33 |
+
</link> <!-- virtual link-->
|
| 34 |
+
<link name="palm"/>
|
| 35 |
+
<joint name="palm_joint" type="fixed">
|
| 36 |
+
<parent link="base_link"/>
|
| 37 |
+
<child link="palm"/>
|
| 38 |
+
<origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
|
| 39 |
+
</joint> <!-- virtual link-->
|
| 40 |
+
<link name="wrist"/>
|
| 41 |
+
<joint name="wrist_joint" type="fixed">
|
| 42 |
+
<origin rpy="0 0 0" xyz="0 0 -0.03"/>
|
| 43 |
+
<parent link="palm"/>
|
| 44 |
+
<child link="wrist"/>
|
| 45 |
+
</joint>
|
| 46 |
+
<link name="link_0.0">
|
| 47 |
+
<visual>
|
| 48 |
+
<geometry>
|
| 49 |
+
<mesh filename="meshes/visual/link_0.0.obj"/>
|
| 50 |
+
</geometry>
|
| 51 |
+
</visual>
|
| 52 |
+
<collision>
|
| 53 |
+
<geometry>
|
| 54 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 57 |
+
</collision>
|
| 58 |
+
<inertial>
|
| 59 |
+
<mass value="0.0119"/>
|
| 60 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 61 |
+
<inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
|
| 62 |
+
</inertial>
|
| 63 |
+
</link>
|
| 64 |
+
<joint name="joint_0.0" type="revolute">
|
| 65 |
+
<axis xyz="0 0 1"/>
|
| 66 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 67 |
+
<parent link="base_link"/>
|
| 68 |
+
<child link="link_0.0"/>
|
| 69 |
+
<origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
|
| 70 |
+
</joint>
|
| 71 |
+
<link name="link_1.0">
|
| 72 |
+
<inertial>
|
| 73 |
+
<mass value="0.065"/>
|
| 74 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 75 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 76 |
+
</inertial>
|
| 77 |
+
<visual>
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh filename="meshes/visual/link_1.0.obj"/>
|
| 80 |
+
</geometry>
|
| 81 |
+
</visual>
|
| 82 |
+
<collision>
|
| 83 |
+
<geometry>
|
| 84 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 85 |
+
</geometry>
|
| 86 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 87 |
+
</collision>
|
| 88 |
+
</link>
|
| 89 |
+
<joint name="joint_1.0" type="revolute">
|
| 90 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 91 |
+
<axis xyz="0 1 0"/>
|
| 92 |
+
<parent link="link_0.0"/>
|
| 93 |
+
<child link="link_1.0"/>
|
| 94 |
+
<origin xyz="0 0 0.0164"/>
|
| 95 |
+
</joint>
|
| 96 |
+
<link name="link_2.0">
|
| 97 |
+
<inertial>
|
| 98 |
+
<mass value="0.0355"/>
|
| 99 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 100 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 101 |
+
</inertial>
|
| 102 |
+
<visual>
|
| 103 |
+
<geometry>
|
| 104 |
+
<mesh filename="meshes/visual/link_2.0.obj"/>
|
| 105 |
+
</geometry>
|
| 106 |
+
</visual>
|
| 107 |
+
<collision>
|
| 108 |
+
<geometry>
|
| 109 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 112 |
+
</collision>
|
| 113 |
+
</link>
|
| 114 |
+
<joint name="joint_2.0" type="revolute">
|
| 115 |
+
<axis xyz="0 1 0"/>
|
| 116 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 117 |
+
<parent link="link_1.0"/>
|
| 118 |
+
<child link="link_2.0"/>
|
| 119 |
+
<origin xyz="0 0 0.054"/>
|
| 120 |
+
</joint>
|
| 121 |
+
<link name="link_3.0">
|
| 122 |
+
<visual>
|
| 123 |
+
<geometry>
|
| 124 |
+
<mesh filename="meshes/visual/link_3.0.obj"/>
|
| 125 |
+
</geometry>
|
| 126 |
+
</visual>
|
| 127 |
+
<collision>
|
| 128 |
+
<geometry>
|
| 129 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 130 |
+
</geometry>
|
| 131 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 132 |
+
</collision>
|
| 133 |
+
<inertial>
|
| 134 |
+
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
|
| 135 |
+
<mass value="0.02"/>
|
| 136 |
+
<inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
|
| 137 |
+
</inertial>
|
| 138 |
+
</link>
|
| 139 |
+
<joint name="joint_3.0" type="revolute">
|
| 140 |
+
<axis xyz="0 1 0"/>
|
| 141 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 142 |
+
<parent link="link_2.0"/>
|
| 143 |
+
<child link="link_3.0"/>
|
| 144 |
+
<origin xyz="0 0 0.0384"/>
|
| 145 |
+
</joint>
|
| 146 |
+
<link name="link_3.0_tip">
|
| 147 |
+
<inertial>
|
| 148 |
+
<mass value="0.0168"/>
|
| 149 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 150 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 151 |
+
</inertial>
|
| 152 |
+
<visual>
|
| 153 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="meshes/visual/link_tip.obj"/>
|
| 156 |
+
</geometry>
|
| 157 |
+
</visual>
|
| 158 |
+
<collision>
|
| 159 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 160 |
+
<geometry>
|
| 161 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 162 |
+
</geometry>
|
| 163 |
+
</collision>
|
| 164 |
+
</link>
|
| 165 |
+
<joint name="joint_3.0_tip" type="fixed">
|
| 166 |
+
<parent link="link_3.0"/>
|
| 167 |
+
<child link="link_3.0_tip"/>
|
| 168 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 169 |
+
</joint>
|
| 170 |
+
<link name="link_4.0">
|
| 171 |
+
<inertial>
|
| 172 |
+
<mass value="0.005"/>
|
| 173 |
+
<origin xyz="0 0 0"/>
|
| 174 |
+
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
| 175 |
+
</inertial>
|
| 176 |
+
<visual>
|
| 177 |
+
<geometry>
|
| 178 |
+
<mesh filename="meshes/visual/link_0.0.obj"/>
|
| 179 |
+
</geometry>
|
| 180 |
+
</visual>
|
| 181 |
+
<collision>
|
| 182 |
+
<geometry>
|
| 183 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 184 |
+
</geometry>
|
| 185 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 186 |
+
</collision>
|
| 187 |
+
</link>
|
| 188 |
+
<joint name="joint_4.0" type="revolute">
|
| 189 |
+
<axis xyz="0 0 1"/>
|
| 190 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 191 |
+
<parent link="base_link"/>
|
| 192 |
+
<child link="link_4.0"/>
|
| 193 |
+
<origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
|
| 194 |
+
</joint>
|
| 195 |
+
<link name="link_5.0">
|
| 196 |
+
<inertial>
|
| 197 |
+
<mass value="0.065"/>
|
| 198 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 199 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 200 |
+
</inertial>
|
| 201 |
+
<visual>
|
| 202 |
+
<geometry>
|
| 203 |
+
<mesh filename="meshes/visual/link_1.0.obj"/>
|
| 204 |
+
</geometry>
|
| 205 |
+
</visual>
|
| 206 |
+
<collision>
|
| 207 |
+
<geometry>
|
| 208 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 209 |
+
</geometry>
|
| 210 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 211 |
+
</collision>
|
| 212 |
+
</link>
|
| 213 |
+
<joint name="joint_5.0" type="revolute">
|
| 214 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 215 |
+
<axis xyz="0 1 0"/>
|
| 216 |
+
<parent link="link_4.0"/>
|
| 217 |
+
<child link="link_5.0"/>
|
| 218 |
+
<origin xyz="0 0 0.0164"/>
|
| 219 |
+
</joint>
|
| 220 |
+
<link name="link_6.0">
|
| 221 |
+
<inertial>
|
| 222 |
+
<mass value="0.0355"/>
|
| 223 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 224 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 225 |
+
</inertial>
|
| 226 |
+
<visual>
|
| 227 |
+
<geometry>
|
| 228 |
+
<mesh filename="meshes/visual/link_2.0.obj"/>
|
| 229 |
+
</geometry>
|
| 230 |
+
</visual>
|
| 231 |
+
<collision>
|
| 232 |
+
<geometry>
|
| 233 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 234 |
+
</geometry>
|
| 235 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 236 |
+
</collision>
|
| 237 |
+
</link>
|
| 238 |
+
<joint name="joint_6.0" type="revolute">
|
| 239 |
+
<axis xyz="0 1 0"/>
|
| 240 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 241 |
+
<parent link="link_5.0"/>
|
| 242 |
+
<child link="link_6.0"/>
|
| 243 |
+
<origin xyz="0 0 0.054"/>
|
| 244 |
+
</joint>
|
| 245 |
+
<link name="link_7.0">
|
| 246 |
+
<inertial>
|
| 247 |
+
<mass value="0.0388"/>
|
| 248 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 249 |
+
<inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
|
| 250 |
+
</inertial>
|
| 251 |
+
<visual>
|
| 252 |
+
<geometry>
|
| 253 |
+
<mesh filename="meshes/visual/link_3.0.obj"/>
|
| 254 |
+
</geometry>
|
| 255 |
+
</visual>
|
| 256 |
+
<collision>
|
| 257 |
+
<geometry>
|
| 258 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 259 |
+
</geometry>
|
| 260 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 261 |
+
</collision>
|
| 262 |
+
</link>
|
| 263 |
+
<joint name="joint_7.0" type="revolute">
|
| 264 |
+
<axis xyz="0 1 0"/>
|
| 265 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 266 |
+
<parent link="link_6.0"/>
|
| 267 |
+
<child link="link_7.0"/>
|
| 268 |
+
<origin xyz="0 0 0.0384"/>
|
| 269 |
+
</joint>
|
| 270 |
+
<link name="link_7.0_tip">
|
| 271 |
+
<inertial>
|
| 272 |
+
<mass value="0.0096"/>
|
| 273 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 274 |
+
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
|
| 275 |
+
</inertial>
|
| 276 |
+
<visual>
|
| 277 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 278 |
+
<geometry>
|
| 279 |
+
<mesh filename="meshes/visual/link_tip.obj"/>
|
| 280 |
+
</geometry>
|
| 281 |
+
</visual>
|
| 282 |
+
<collision>
|
| 283 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 284 |
+
<geometry>
|
| 285 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 286 |
+
</geometry>
|
| 287 |
+
</collision>
|
| 288 |
+
</link>
|
| 289 |
+
<joint name="joint_7.0_tip" type="fixed">
|
| 290 |
+
<parent link="link_7.0"/>
|
| 291 |
+
<child link="link_7.0_tip"/>
|
| 292 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 293 |
+
</joint>
|
| 294 |
+
<link name="link_8.0">
|
| 295 |
+
<inertial>
|
| 296 |
+
<mass value="0.005"/>
|
| 297 |
+
<origin xyz="0 0 0"/>
|
| 298 |
+
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
| 299 |
+
</inertial>
|
| 300 |
+
<visual>
|
| 301 |
+
<geometry>
|
| 302 |
+
<mesh filename="meshes/visual/link_0.0.obj"/>
|
| 303 |
+
</geometry>
|
| 304 |
+
</visual>
|
| 305 |
+
<collision>
|
| 306 |
+
<geometry>
|
| 307 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 308 |
+
</geometry>
|
| 309 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 310 |
+
</collision>
|
| 311 |
+
</link>
|
| 312 |
+
<joint name="joint_8.0" type="revolute">
|
| 313 |
+
<axis xyz="0 0 1"/>
|
| 314 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 315 |
+
<parent link="base_link"/>
|
| 316 |
+
<child link="link_8.0"/>
|
| 317 |
+
<origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
|
| 318 |
+
</joint>
|
| 319 |
+
<link name="link_9.0">
|
| 320 |
+
<inertial>
|
| 321 |
+
<mass value="0.065"/>
|
| 322 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 323 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 324 |
+
</inertial>
|
| 325 |
+
<visual>
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="meshes/visual/link_1.0.obj"/>
|
| 328 |
+
</geometry>
|
| 329 |
+
</visual>
|
| 330 |
+
<collision>
|
| 331 |
+
<geometry>
|
| 332 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 333 |
+
</geometry>
|
| 334 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 335 |
+
</collision>
|
| 336 |
+
</link>
|
| 337 |
+
<joint name="joint_9.0" type="revolute">
|
| 338 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 339 |
+
<axis xyz="0 1 0"/>
|
| 340 |
+
<parent link="link_8.0"/>
|
| 341 |
+
<child link="link_9.0"/>
|
| 342 |
+
<origin xyz="0 0 0.0164"/>
|
| 343 |
+
</joint>
|
| 344 |
+
<link name="link_10.0">
|
| 345 |
+
<inertial>
|
| 346 |
+
<mass value="0.0355"/>
|
| 347 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 348 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 349 |
+
</inertial>
|
| 350 |
+
<visual>
|
| 351 |
+
<geometry>
|
| 352 |
+
<mesh filename="meshes/visual/link_2.0.obj"/>
|
| 353 |
+
</geometry>
|
| 354 |
+
</visual>
|
| 355 |
+
<collision>
|
| 356 |
+
<geometry>
|
| 357 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 360 |
+
</collision>
|
| 361 |
+
</link>
|
| 362 |
+
<joint name="joint_10.0" type="revolute">
|
| 363 |
+
<axis xyz="0 1 0"/>
|
| 364 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 365 |
+
<parent link="link_9.0"/>
|
| 366 |
+
<child link="link_10.0"/>
|
| 367 |
+
<origin xyz="0 0 0.054"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<link name="link_11.0">
|
| 370 |
+
<inertial>
|
| 371 |
+
<mass value="0.0096"/>
|
| 372 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 373 |
+
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
|
| 374 |
+
</inertial>
|
| 375 |
+
<visual>
|
| 376 |
+
<geometry>
|
| 377 |
+
<mesh filename="meshes/visual/link_3.0.obj"/>
|
| 378 |
+
</geometry>
|
| 379 |
+
</visual>
|
| 380 |
+
<collision>
|
| 381 |
+
<geometry>
|
| 382 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 383 |
+
</geometry>
|
| 384 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 385 |
+
</collision>
|
| 386 |
+
</link>
|
| 387 |
+
<joint name="joint_11.0" type="revolute">
|
| 388 |
+
<axis xyz="0 1 0"/>
|
| 389 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 390 |
+
<parent link="link_10.0"/>
|
| 391 |
+
<child link="link_11.0"/>
|
| 392 |
+
<origin xyz="0 0 0.0384"/>
|
| 393 |
+
</joint>
|
| 394 |
+
<link name="link_11.0_tip">
|
| 395 |
+
<inertial>
|
| 396 |
+
<mass value="0.0168"/>
|
| 397 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 398 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 399 |
+
</inertial>
|
| 400 |
+
<visual>
|
| 401 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 402 |
+
<geometry>
|
| 403 |
+
<mesh filename="meshes/visual/link_tip.obj"/>
|
| 404 |
+
</geometry>
|
| 405 |
+
</visual>
|
| 406 |
+
<collision>
|
| 407 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 408 |
+
<geometry>
|
| 409 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 410 |
+
</geometry>
|
| 411 |
+
</collision>
|
| 412 |
+
</link>
|
| 413 |
+
<joint name="joint_11.0_tip" type="fixed">
|
| 414 |
+
<parent link="link_11.0"/>
|
| 415 |
+
<child link="link_11.0_tip"/>
|
| 416 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 417 |
+
</joint> <!-- THUMB -->
|
| 418 |
+
<link name="link_12.0">
|
| 419 |
+
<inertial>
|
| 420 |
+
<mass value="0.0176"/>
|
| 421 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 422 |
+
<inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
|
| 423 |
+
</inertial>
|
| 424 |
+
<visual>
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="meshes/visual/link_12.0_left.obj"/>
|
| 427 |
+
</geometry>
|
| 428 |
+
<origin rpy="3.14159 0 0" xyz="0 0 0"/>
|
| 429 |
+
</visual>
|
| 430 |
+
<collision>
|
| 431 |
+
<geometry>
|
| 432 |
+
<box size="0.0358 0.034 0.0455"/>
|
| 433 |
+
</geometry>
|
| 434 |
+
<origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
|
| 435 |
+
</collision>
|
| 436 |
+
</link>
|
| 437 |
+
<joint name="joint_12.0" type="revolute">
|
| 438 |
+
<axis xyz="1 0 0"/>
|
| 439 |
+
<limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
|
| 440 |
+
<parent link="base_link"/>
|
| 441 |
+
<child link="link_12.0"/>
|
| 442 |
+
<origin xyz="-0.0182 -0.019333 -0.045987" rpy="0 -1.65806278845 1.5707963259"/>
|
| 443 |
+
</joint>
|
| 444 |
+
<link name="link_13.0">
|
| 445 |
+
<inertial>
|
| 446 |
+
<mass value="0.0119"/>
|
| 447 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 448 |
+
<inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
|
| 449 |
+
</inertial>
|
| 450 |
+
<visual>
|
| 451 |
+
<geometry>
|
| 452 |
+
<mesh filename="meshes/visual/link_13.0.obj"/>
|
| 453 |
+
</geometry>
|
| 454 |
+
</visual>
|
| 455 |
+
<collision>
|
| 456 |
+
<geometry>
|
| 457 |
+
<box size="0.0196 0.0275 0.0177"/>
|
| 458 |
+
</geometry>
|
| 459 |
+
<origin rpy="0 0 0" xyz="0 0 0.00885"/>
|
| 460 |
+
</collision>
|
| 461 |
+
</link>
|
| 462 |
+
<joint name="joint_13.0" type="revolute">
|
| 463 |
+
<axis xyz="0 0 -1"/>
|
| 464 |
+
<limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
|
| 465 |
+
<parent link="link_12.0"/>
|
| 466 |
+
<child link="link_13.0"/>
|
| 467 |
+
<origin xyz="-0.027 0.005 0.0399"/>
|
| 468 |
+
</joint>
|
| 469 |
+
<link name="link_14.0">
|
| 470 |
+
<inertial>
|
| 471 |
+
<mass value="0.038"/>
|
| 472 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 473 |
+
<inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
|
| 474 |
+
</inertial>
|
| 475 |
+
<visual>
|
| 476 |
+
<geometry>
|
| 477 |
+
<mesh filename="meshes/visual/link_14.0.obj"/>
|
| 478 |
+
</geometry>
|
| 479 |
+
</visual>
|
| 480 |
+
<collision>
|
| 481 |
+
<geometry>
|
| 482 |
+
<box size="0.0196 0.0275 0.0514"/>
|
| 483 |
+
</geometry>
|
| 484 |
+
<origin rpy="0 0 0" xyz="0 0 0.0257"/>
|
| 485 |
+
</collision>
|
| 486 |
+
</link>
|
| 487 |
+
<joint name="joint_14.0" type="revolute">
|
| 488 |
+
<axis xyz="0 1 0"/>
|
| 489 |
+
<limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
|
| 490 |
+
<parent link="link_13.0"/>
|
| 491 |
+
<child link="link_14.0"/>
|
| 492 |
+
<origin xyz="0 0 0.0177"/>
|
| 493 |
+
</joint>
|
| 494 |
+
<link name="link_15.0">
|
| 495 |
+
<inertial>
|
| 496 |
+
<mass value="0.0388"/>
|
| 497 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 498 |
+
<inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
|
| 499 |
+
</inertial>
|
| 500 |
+
<visual>
|
| 501 |
+
<geometry>
|
| 502 |
+
<mesh filename="meshes/visual/link_15.0.obj"/>
|
| 503 |
+
</geometry>
|
| 504 |
+
</visual>
|
| 505 |
+
<collision>
|
| 506 |
+
<geometry>
|
| 507 |
+
<box size="0.0196 0.0269 0.04"/>
|
| 508 |
+
</geometry>
|
| 509 |
+
<origin rpy="0 0 0" xyz="0 0 0.01125"/>
|
| 510 |
+
</collision>
|
| 511 |
+
</link>
|
| 512 |
+
<joint name="joint_15.0" type="revolute">
|
| 513 |
+
<axis xyz="0 1 0"/>
|
| 514 |
+
<limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
|
| 515 |
+
<parent link="link_14.0"/>
|
| 516 |
+
<child link="link_15.0"/>
|
| 517 |
+
<origin xyz="0 0 0.0514"/>
|
| 518 |
+
</joint>
|
| 519 |
+
<link name="link_15.0_tip">
|
| 520 |
+
<inertial>
|
| 521 |
+
<mass value="0.0168"/>
|
| 522 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 523 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 524 |
+
</inertial>
|
| 525 |
+
<visual>
|
| 526 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 527 |
+
<geometry>
|
| 528 |
+
<mesh filename="meshes/visual/link_tip.obj"/>
|
| 529 |
+
</geometry>
|
| 530 |
+
</visual>
|
| 531 |
+
<collision>
|
| 532 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 533 |
+
<geometry>
|
| 534 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 535 |
+
</geometry>
|
| 536 |
+
</collision>
|
| 537 |
+
</link>
|
| 538 |
+
<joint name="joint_15.0_tip" type="fixed">
|
| 539 |
+
<parent link="link_15.0"/>
|
| 540 |
+
<child link="link_15.0_tip"/>
|
| 541 |
+
<origin rpy="0 0 0" xyz="0 0 0.0543"/>
|
| 542 |
+
</joint>
|
| 543 |
+
</robot>
|
hands/allegro_hand/allegro_hand_left_glb.urdf
ADDED
|
@@ -0,0 +1,543 @@
|
|
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|
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|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<robot name="allegro_left">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<mass value="0.4154"/>
|
| 6 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 7 |
+
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<geometry>
|
| 11 |
+
<mesh filename="meshes/visual/base_link_left.glb"/>
|
| 12 |
+
</geometry>
|
| 13 |
+
<origin rpy="-1.570795 0 0" xyz="0 0 0 "/>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision>
|
| 16 |
+
<origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
|
| 17 |
+
<geometry>
|
| 18 |
+
<box size="0.0414 0.112 0.0448"/>
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
<collision>
|
| 22 |
+
<origin rpy="0 0 0" xyz="-0.009 0.0253 -0.0667"/>
|
| 23 |
+
<geometry>
|
| 24 |
+
<box size="0.0414 0.0538 0.0428"/>
|
| 25 |
+
</geometry>
|
| 26 |
+
</collision>
|
| 27 |
+
<collision>
|
| 28 |
+
<origin rpy="0 0 0" xyz="-0.009300 0.00557 -0.08874"/>
|
| 29 |
+
<geometry>
|
| 30 |
+
<box size="0.0414 0.0720 0.013"/>
|
| 31 |
+
</geometry>
|
| 32 |
+
</collision>
|
| 33 |
+
</link> <!-- virtual link-->
|
| 34 |
+
<link name="palm"/>
|
| 35 |
+
<joint name="palm_joint" type="fixed">
|
| 36 |
+
<parent link="base_link"/>
|
| 37 |
+
<child link="palm"/>
|
| 38 |
+
<origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
|
| 39 |
+
</joint> <!-- virtual link-->
|
| 40 |
+
<link name="wrist"/>
|
| 41 |
+
<joint name="wrist_joint" type="fixed">
|
| 42 |
+
<origin rpy="0 0 0" xyz="0 0 -0.03"/>
|
| 43 |
+
<parent link="palm"/>
|
| 44 |
+
<child link="wrist"/>
|
| 45 |
+
</joint>
|
| 46 |
+
<link name="link_0.0">
|
| 47 |
+
<visual>
|
| 48 |
+
<geometry>
|
| 49 |
+
<mesh filename="meshes/visual/link_0.0.glb"/>
|
| 50 |
+
</geometry>
|
| 51 |
+
</visual>
|
| 52 |
+
<collision>
|
| 53 |
+
<geometry>
|
| 54 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 57 |
+
</collision>
|
| 58 |
+
<inertial>
|
| 59 |
+
<mass value="0.0119"/>
|
| 60 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 61 |
+
<inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
|
| 62 |
+
</inertial>
|
| 63 |
+
</link>
|
| 64 |
+
<joint name="joint_0.0" type="revolute">
|
| 65 |
+
<axis xyz="0 0 1"/>
|
| 66 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 67 |
+
<parent link="base_link"/>
|
| 68 |
+
<child link="link_0.0"/>
|
| 69 |
+
<origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
|
| 70 |
+
</joint>
|
| 71 |
+
<link name="link_1.0">
|
| 72 |
+
<inertial>
|
| 73 |
+
<mass value="0.065"/>
|
| 74 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 75 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 76 |
+
</inertial>
|
| 77 |
+
<visual>
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh filename="meshes/visual/link_1.0.glb"/>
|
| 80 |
+
</geometry>
|
| 81 |
+
</visual>
|
| 82 |
+
<collision>
|
| 83 |
+
<geometry>
|
| 84 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 85 |
+
</geometry>
|
| 86 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 87 |
+
</collision>
|
| 88 |
+
</link>
|
| 89 |
+
<joint name="joint_1.0" type="revolute">
|
| 90 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 91 |
+
<axis xyz="0 1 0"/>
|
| 92 |
+
<parent link="link_0.0"/>
|
| 93 |
+
<child link="link_1.0"/>
|
| 94 |
+
<origin xyz="0 0 0.0164"/>
|
| 95 |
+
</joint>
|
| 96 |
+
<link name="link_2.0">
|
| 97 |
+
<inertial>
|
| 98 |
+
<mass value="0.0355"/>
|
| 99 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 100 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 101 |
+
</inertial>
|
| 102 |
+
<visual>
|
| 103 |
+
<geometry>
|
| 104 |
+
<mesh filename="meshes/visual/link_2.0.glb"/>
|
| 105 |
+
</geometry>
|
| 106 |
+
</visual>
|
| 107 |
+
<collision>
|
| 108 |
+
<geometry>
|
| 109 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 112 |
+
</collision>
|
| 113 |
+
</link>
|
| 114 |
+
<joint name="joint_2.0" type="revolute">
|
| 115 |
+
<axis xyz="0 1 0"/>
|
| 116 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 117 |
+
<parent link="link_1.0"/>
|
| 118 |
+
<child link="link_2.0"/>
|
| 119 |
+
<origin xyz="0 0 0.054"/>
|
| 120 |
+
</joint>
|
| 121 |
+
<link name="link_3.0">
|
| 122 |
+
<visual>
|
| 123 |
+
<geometry>
|
| 124 |
+
<mesh filename="meshes/visual/link_3.0.glb"/>
|
| 125 |
+
</geometry>
|
| 126 |
+
</visual>
|
| 127 |
+
<collision>
|
| 128 |
+
<geometry>
|
| 129 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 130 |
+
</geometry>
|
| 131 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 132 |
+
</collision>
|
| 133 |
+
<inertial>
|
| 134 |
+
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
|
| 135 |
+
<mass value="0.02"/>
|
| 136 |
+
<inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
|
| 137 |
+
</inertial>
|
| 138 |
+
</link>
|
| 139 |
+
<joint name="joint_3.0" type="revolute">
|
| 140 |
+
<axis xyz="0 1 0"/>
|
| 141 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 142 |
+
<parent link="link_2.0"/>
|
| 143 |
+
<child link="link_3.0"/>
|
| 144 |
+
<origin xyz="0 0 0.0384"/>
|
| 145 |
+
</joint>
|
| 146 |
+
<link name="link_3.0_tip">
|
| 147 |
+
<inertial>
|
| 148 |
+
<mass value="0.0168"/>
|
| 149 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 150 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 151 |
+
</inertial>
|
| 152 |
+
<visual>
|
| 153 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="meshes/visual/link_tip.glb"/>
|
| 156 |
+
</geometry>
|
| 157 |
+
</visual>
|
| 158 |
+
<collision>
|
| 159 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 160 |
+
<geometry>
|
| 161 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 162 |
+
</geometry>
|
| 163 |
+
</collision>
|
| 164 |
+
</link>
|
| 165 |
+
<joint name="joint_3.0_tip" type="fixed">
|
| 166 |
+
<parent link="link_3.0"/>
|
| 167 |
+
<child link="link_3.0_tip"/>
|
| 168 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 169 |
+
</joint>
|
| 170 |
+
<link name="link_4.0">
|
| 171 |
+
<inertial>
|
| 172 |
+
<mass value="0.005"/>
|
| 173 |
+
<origin xyz="0 0 0"/>
|
| 174 |
+
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
| 175 |
+
</inertial>
|
| 176 |
+
<visual>
|
| 177 |
+
<geometry>
|
| 178 |
+
<mesh filename="meshes/visual/link_0.0.glb"/>
|
| 179 |
+
</geometry>
|
| 180 |
+
</visual>
|
| 181 |
+
<collision>
|
| 182 |
+
<geometry>
|
| 183 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 184 |
+
</geometry>
|
| 185 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 186 |
+
</collision>
|
| 187 |
+
</link>
|
| 188 |
+
<joint name="joint_4.0" type="revolute">
|
| 189 |
+
<axis xyz="0 0 1"/>
|
| 190 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 191 |
+
<parent link="base_link"/>
|
| 192 |
+
<child link="link_4.0"/>
|
| 193 |
+
<origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
|
| 194 |
+
</joint>
|
| 195 |
+
<link name="link_5.0">
|
| 196 |
+
<inertial>
|
| 197 |
+
<mass value="0.065"/>
|
| 198 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 199 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 200 |
+
</inertial>
|
| 201 |
+
<visual>
|
| 202 |
+
<geometry>
|
| 203 |
+
<mesh filename="meshes/visual/link_1.0.glb"/>
|
| 204 |
+
</geometry>
|
| 205 |
+
</visual>
|
| 206 |
+
<collision>
|
| 207 |
+
<geometry>
|
| 208 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 209 |
+
</geometry>
|
| 210 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 211 |
+
</collision>
|
| 212 |
+
</link>
|
| 213 |
+
<joint name="joint_5.0" type="revolute">
|
| 214 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 215 |
+
<axis xyz="0 1 0"/>
|
| 216 |
+
<parent link="link_4.0"/>
|
| 217 |
+
<child link="link_5.0"/>
|
| 218 |
+
<origin xyz="0 0 0.0164"/>
|
| 219 |
+
</joint>
|
| 220 |
+
<link name="link_6.0">
|
| 221 |
+
<inertial>
|
| 222 |
+
<mass value="0.0355"/>
|
| 223 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 224 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 225 |
+
</inertial>
|
| 226 |
+
<visual>
|
| 227 |
+
<geometry>
|
| 228 |
+
<mesh filename="meshes/visual/link_2.0.glb"/>
|
| 229 |
+
</geometry>
|
| 230 |
+
</visual>
|
| 231 |
+
<collision>
|
| 232 |
+
<geometry>
|
| 233 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 234 |
+
</geometry>
|
| 235 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 236 |
+
</collision>
|
| 237 |
+
</link>
|
| 238 |
+
<joint name="joint_6.0" type="revolute">
|
| 239 |
+
<axis xyz="0 1 0"/>
|
| 240 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 241 |
+
<parent link="link_5.0"/>
|
| 242 |
+
<child link="link_6.0"/>
|
| 243 |
+
<origin xyz="0 0 0.054"/>
|
| 244 |
+
</joint>
|
| 245 |
+
<link name="link_7.0">
|
| 246 |
+
<inertial>
|
| 247 |
+
<mass value="0.0388"/>
|
| 248 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 249 |
+
<inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
|
| 250 |
+
</inertial>
|
| 251 |
+
<visual>
|
| 252 |
+
<geometry>
|
| 253 |
+
<mesh filename="meshes/visual/link_3.0.glb"/>
|
| 254 |
+
</geometry>
|
| 255 |
+
</visual>
|
| 256 |
+
<collision>
|
| 257 |
+
<geometry>
|
| 258 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 259 |
+
</geometry>
|
| 260 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 261 |
+
</collision>
|
| 262 |
+
</link>
|
| 263 |
+
<joint name="joint_7.0" type="revolute">
|
| 264 |
+
<axis xyz="0 1 0"/>
|
| 265 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 266 |
+
<parent link="link_6.0"/>
|
| 267 |
+
<child link="link_7.0"/>
|
| 268 |
+
<origin xyz="0 0 0.0384"/>
|
| 269 |
+
</joint>
|
| 270 |
+
<link name="link_7.0_tip">
|
| 271 |
+
<inertial>
|
| 272 |
+
<mass value="0.0096"/>
|
| 273 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 274 |
+
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
|
| 275 |
+
</inertial>
|
| 276 |
+
<visual>
|
| 277 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 278 |
+
<geometry>
|
| 279 |
+
<mesh filename="meshes/visual/link_tip.glb"/>
|
| 280 |
+
</geometry>
|
| 281 |
+
</visual>
|
| 282 |
+
<collision>
|
| 283 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 284 |
+
<geometry>
|
| 285 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 286 |
+
</geometry>
|
| 287 |
+
</collision>
|
| 288 |
+
</link>
|
| 289 |
+
<joint name="joint_7.0_tip" type="fixed">
|
| 290 |
+
<parent link="link_7.0"/>
|
| 291 |
+
<child link="link_7.0_tip"/>
|
| 292 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 293 |
+
</joint>
|
| 294 |
+
<link name="link_8.0">
|
| 295 |
+
<inertial>
|
| 296 |
+
<mass value="0.005"/>
|
| 297 |
+
<origin xyz="0 0 0"/>
|
| 298 |
+
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
| 299 |
+
</inertial>
|
| 300 |
+
<visual>
|
| 301 |
+
<geometry>
|
| 302 |
+
<mesh filename="meshes/visual/link_0.0.glb"/>
|
| 303 |
+
</geometry>
|
| 304 |
+
</visual>
|
| 305 |
+
<collision>
|
| 306 |
+
<geometry>
|
| 307 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 308 |
+
</geometry>
|
| 309 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 310 |
+
</collision>
|
| 311 |
+
</link>
|
| 312 |
+
<joint name="joint_8.0" type="revolute">
|
| 313 |
+
<axis xyz="0 0 1"/>
|
| 314 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 315 |
+
<parent link="base_link"/>
|
| 316 |
+
<child link="link_8.0"/>
|
| 317 |
+
<origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
|
| 318 |
+
</joint>
|
| 319 |
+
<link name="link_9.0">
|
| 320 |
+
<inertial>
|
| 321 |
+
<mass value="0.065"/>
|
| 322 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 323 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 324 |
+
</inertial>
|
| 325 |
+
<visual>
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="meshes/visual/link_1.0.glb"/>
|
| 328 |
+
</geometry>
|
| 329 |
+
</visual>
|
| 330 |
+
<collision>
|
| 331 |
+
<geometry>
|
| 332 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 333 |
+
</geometry>
|
| 334 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 335 |
+
</collision>
|
| 336 |
+
</link>
|
| 337 |
+
<joint name="joint_9.0" type="revolute">
|
| 338 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 339 |
+
<axis xyz="0 1 0"/>
|
| 340 |
+
<parent link="link_8.0"/>
|
| 341 |
+
<child link="link_9.0"/>
|
| 342 |
+
<origin xyz="0 0 0.0164"/>
|
| 343 |
+
</joint>
|
| 344 |
+
<link name="link_10.0">
|
| 345 |
+
<inertial>
|
| 346 |
+
<mass value="0.0355"/>
|
| 347 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 348 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 349 |
+
</inertial>
|
| 350 |
+
<visual>
|
| 351 |
+
<geometry>
|
| 352 |
+
<mesh filename="meshes/visual/link_2.0.glb"/>
|
| 353 |
+
</geometry>
|
| 354 |
+
</visual>
|
| 355 |
+
<collision>
|
| 356 |
+
<geometry>
|
| 357 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 360 |
+
</collision>
|
| 361 |
+
</link>
|
| 362 |
+
<joint name="joint_10.0" type="revolute">
|
| 363 |
+
<axis xyz="0 1 0"/>
|
| 364 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 365 |
+
<parent link="link_9.0"/>
|
| 366 |
+
<child link="link_10.0"/>
|
| 367 |
+
<origin xyz="0 0 0.054"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<link name="link_11.0">
|
| 370 |
+
<inertial>
|
| 371 |
+
<mass value="0.0096"/>
|
| 372 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 373 |
+
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
|
| 374 |
+
</inertial>
|
| 375 |
+
<visual>
|
| 376 |
+
<geometry>
|
| 377 |
+
<mesh filename="meshes/visual/link_3.0.glb"/>
|
| 378 |
+
</geometry>
|
| 379 |
+
</visual>
|
| 380 |
+
<collision>
|
| 381 |
+
<geometry>
|
| 382 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 383 |
+
</geometry>
|
| 384 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 385 |
+
</collision>
|
| 386 |
+
</link>
|
| 387 |
+
<joint name="joint_11.0" type="revolute">
|
| 388 |
+
<axis xyz="0 1 0"/>
|
| 389 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 390 |
+
<parent link="link_10.0"/>
|
| 391 |
+
<child link="link_11.0"/>
|
| 392 |
+
<origin xyz="0 0 0.0384"/>
|
| 393 |
+
</joint>
|
| 394 |
+
<link name="link_11.0_tip">
|
| 395 |
+
<inertial>
|
| 396 |
+
<mass value="0.0168"/>
|
| 397 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 398 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 399 |
+
</inertial>
|
| 400 |
+
<visual>
|
| 401 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 402 |
+
<geometry>
|
| 403 |
+
<mesh filename="meshes/visual/link_tip.glb"/>
|
| 404 |
+
</geometry>
|
| 405 |
+
</visual>
|
| 406 |
+
<collision>
|
| 407 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 408 |
+
<geometry>
|
| 409 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 410 |
+
</geometry>
|
| 411 |
+
</collision>
|
| 412 |
+
</link>
|
| 413 |
+
<joint name="joint_11.0_tip" type="fixed">
|
| 414 |
+
<parent link="link_11.0"/>
|
| 415 |
+
<child link="link_11.0_tip"/>
|
| 416 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 417 |
+
</joint> <!-- THUMB -->
|
| 418 |
+
<link name="link_12.0">
|
| 419 |
+
<inertial>
|
| 420 |
+
<mass value="0.0176"/>
|
| 421 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 422 |
+
<inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
|
| 423 |
+
</inertial>
|
| 424 |
+
<visual>
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="meshes/visual/link_12.0_left.glb"/>
|
| 427 |
+
</geometry>
|
| 428 |
+
<origin rpy="3.14159 0 0" xyz="0 0 0"/>
|
| 429 |
+
</visual>
|
| 430 |
+
<collision>
|
| 431 |
+
<geometry>
|
| 432 |
+
<box size="0.0358 0.034 0.0455"/>
|
| 433 |
+
</geometry>
|
| 434 |
+
<origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
|
| 435 |
+
</collision>
|
| 436 |
+
</link>
|
| 437 |
+
<joint name="joint_12.0" type="revolute">
|
| 438 |
+
<axis xyz="1 0 0"/>
|
| 439 |
+
<limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
|
| 440 |
+
<parent link="base_link"/>
|
| 441 |
+
<child link="link_12.0"/>
|
| 442 |
+
<origin xyz="-0.0182 -0.019333 -0.045987" rpy="0 -1.65806278845 1.5707963259"/>
|
| 443 |
+
</joint>
|
| 444 |
+
<link name="link_13.0">
|
| 445 |
+
<inertial>
|
| 446 |
+
<mass value="0.0119"/>
|
| 447 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 448 |
+
<inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
|
| 449 |
+
</inertial>
|
| 450 |
+
<visual>
|
| 451 |
+
<geometry>
|
| 452 |
+
<mesh filename="meshes/visual/link_13.0.glb"/>
|
| 453 |
+
</geometry>
|
| 454 |
+
</visual>
|
| 455 |
+
<collision>
|
| 456 |
+
<geometry>
|
| 457 |
+
<box size="0.0196 0.0275 0.0177"/>
|
| 458 |
+
</geometry>
|
| 459 |
+
<origin rpy="0 0 0" xyz="0 0 0.00885"/>
|
| 460 |
+
</collision>
|
| 461 |
+
</link>
|
| 462 |
+
<joint name="joint_13.0" type="revolute">
|
| 463 |
+
<axis xyz="0 0 -1"/>
|
| 464 |
+
<limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
|
| 465 |
+
<parent link="link_12.0"/>
|
| 466 |
+
<child link="link_13.0"/>
|
| 467 |
+
<origin xyz="-0.027 0.005 0.0399"/>
|
| 468 |
+
</joint>
|
| 469 |
+
<link name="link_14.0">
|
| 470 |
+
<inertial>
|
| 471 |
+
<mass value="0.038"/>
|
| 472 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 473 |
+
<inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
|
| 474 |
+
</inertial>
|
| 475 |
+
<visual>
|
| 476 |
+
<geometry>
|
| 477 |
+
<mesh filename="meshes/visual/link_14.0.glb"/>
|
| 478 |
+
</geometry>
|
| 479 |
+
</visual>
|
| 480 |
+
<collision>
|
| 481 |
+
<geometry>
|
| 482 |
+
<box size="0.0196 0.0275 0.0514"/>
|
| 483 |
+
</geometry>
|
| 484 |
+
<origin rpy="0 0 0" xyz="0 0 0.0257"/>
|
| 485 |
+
</collision>
|
| 486 |
+
</link>
|
| 487 |
+
<joint name="joint_14.0" type="revolute">
|
| 488 |
+
<axis xyz="0 1 0"/>
|
| 489 |
+
<limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
|
| 490 |
+
<parent link="link_13.0"/>
|
| 491 |
+
<child link="link_14.0"/>
|
| 492 |
+
<origin xyz="0 0 0.0177"/>
|
| 493 |
+
</joint>
|
| 494 |
+
<link name="link_15.0">
|
| 495 |
+
<inertial>
|
| 496 |
+
<mass value="0.0388"/>
|
| 497 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 498 |
+
<inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
|
| 499 |
+
</inertial>
|
| 500 |
+
<visual>
|
| 501 |
+
<geometry>
|
| 502 |
+
<mesh filename="meshes/visual/link_15.0.glb"/>
|
| 503 |
+
</geometry>
|
| 504 |
+
</visual>
|
| 505 |
+
<collision>
|
| 506 |
+
<geometry>
|
| 507 |
+
<box size="0.0196 0.0269 0.04"/>
|
| 508 |
+
</geometry>
|
| 509 |
+
<origin rpy="0 0 0" xyz="0 0 0.01125"/>
|
| 510 |
+
</collision>
|
| 511 |
+
</link>
|
| 512 |
+
<joint name="joint_15.0" type="revolute">
|
| 513 |
+
<axis xyz="0 1 0"/>
|
| 514 |
+
<limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
|
| 515 |
+
<parent link="link_14.0"/>
|
| 516 |
+
<child link="link_15.0"/>
|
| 517 |
+
<origin xyz="0 0 0.0514"/>
|
| 518 |
+
</joint>
|
| 519 |
+
<link name="link_15.0_tip">
|
| 520 |
+
<inertial>
|
| 521 |
+
<mass value="0.0168"/>
|
| 522 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 523 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 524 |
+
</inertial>
|
| 525 |
+
<visual>
|
| 526 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 527 |
+
<geometry>
|
| 528 |
+
<mesh filename="meshes/visual/link_tip.glb"/>
|
| 529 |
+
</geometry>
|
| 530 |
+
</visual>
|
| 531 |
+
<collision>
|
| 532 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 533 |
+
<geometry>
|
| 534 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 535 |
+
</geometry>
|
| 536 |
+
</collision>
|
| 537 |
+
</link>
|
| 538 |
+
<joint name="joint_15.0_tip" type="fixed">
|
| 539 |
+
<parent link="link_15.0"/>
|
| 540 |
+
<child link="link_15.0_tip"/>
|
| 541 |
+
<origin rpy="0 0 0" xyz="0 0 0.0543"/>
|
| 542 |
+
</joint>
|
| 543 |
+
</robot>
|
hands/allegro_hand/allegro_hand_right.urdf
ADDED
|
@@ -0,0 +1,542 @@
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<robot name="allegro_right">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<mass value="0.4154"/>
|
| 6 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 7 |
+
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<geometry>
|
| 11 |
+
<mesh filename="meshes/visual/base_link.obj"/>
|
| 12 |
+
</geometry>
|
| 13 |
+
<origin rpy="0 0 0" xyz="0 0 0 "/>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision>
|
| 16 |
+
<origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
|
| 17 |
+
<geometry>
|
| 18 |
+
<box size="0.0414 0.112 0.0448"/>
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
<collision>
|
| 22 |
+
<origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
|
| 23 |
+
<geometry>
|
| 24 |
+
<box size="0.0414 0.0538 0.0428"/>
|
| 25 |
+
</geometry>
|
| 26 |
+
</collision>
|
| 27 |
+
<collision>
|
| 28 |
+
<origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
|
| 29 |
+
<geometry>
|
| 30 |
+
<box size="0.0414 0.0720 0.013"/>
|
| 31 |
+
</geometry>
|
| 32 |
+
</collision>
|
| 33 |
+
</link> <!-- virtual link-->
|
| 34 |
+
<link name="palm"/>
|
| 35 |
+
<joint name="palm_joint" type="fixed">
|
| 36 |
+
<parent link="base_link"/>
|
| 37 |
+
<child link="palm"/>
|
| 38 |
+
<origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
|
| 39 |
+
</joint> <!-- virtual link-->
|
| 40 |
+
<link name="wrist"/>
|
| 41 |
+
<joint name="wrist_joint" type="fixed">
|
| 42 |
+
<origin rpy="0 0 0" xyz="0 0 -0.03"/>
|
| 43 |
+
<parent link="palm"/>
|
| 44 |
+
<child link="wrist"/>
|
| 45 |
+
</joint>
|
| 46 |
+
<link name="link_0.0">
|
| 47 |
+
<visual>
|
| 48 |
+
<geometry>
|
| 49 |
+
<mesh filename="meshes/visual/link_0.0.obj"/>
|
| 50 |
+
</geometry>
|
| 51 |
+
</visual>
|
| 52 |
+
<collision>
|
| 53 |
+
<geometry>
|
| 54 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 57 |
+
</collision>
|
| 58 |
+
<inertial>
|
| 59 |
+
<mass value="0.0119"/>
|
| 60 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 61 |
+
<inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
|
| 62 |
+
</inertial>
|
| 63 |
+
</link>
|
| 64 |
+
<joint name="joint_0.0" type="revolute">
|
| 65 |
+
<axis xyz="0 0 1"/>
|
| 66 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 67 |
+
<parent link="base_link"/>
|
| 68 |
+
<child link="link_0.0"/>
|
| 69 |
+
<origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
|
| 70 |
+
</joint>
|
| 71 |
+
<link name="link_1.0">
|
| 72 |
+
<inertial>
|
| 73 |
+
<mass value="0.065"/>
|
| 74 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 75 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 76 |
+
</inertial>
|
| 77 |
+
<visual>
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh filename="meshes/visual/link_1.0.obj"/>
|
| 80 |
+
</geometry>
|
| 81 |
+
</visual>
|
| 82 |
+
<collision>
|
| 83 |
+
<geometry>
|
| 84 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 85 |
+
</geometry>
|
| 86 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 87 |
+
</collision>
|
| 88 |
+
</link>
|
| 89 |
+
<joint name="joint_1.0" type="revolute">
|
| 90 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 91 |
+
<axis xyz="0 1 0"/>
|
| 92 |
+
<parent link="link_0.0"/>
|
| 93 |
+
<child link="link_1.0"/>
|
| 94 |
+
<origin xyz="0 0 0.0164"/>
|
| 95 |
+
</joint>
|
| 96 |
+
<link name="link_2.0">
|
| 97 |
+
<inertial>
|
| 98 |
+
<mass value="0.0355"/>
|
| 99 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 100 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 101 |
+
</inertial>
|
| 102 |
+
<visual>
|
| 103 |
+
<geometry>
|
| 104 |
+
<mesh filename="meshes/visual/link_2.0.obj"/>
|
| 105 |
+
</geometry>
|
| 106 |
+
</visual>
|
| 107 |
+
<collision>
|
| 108 |
+
<geometry>
|
| 109 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 112 |
+
</collision>
|
| 113 |
+
</link>
|
| 114 |
+
<joint name="joint_2.0" type="revolute">
|
| 115 |
+
<axis xyz="0 1 0"/>
|
| 116 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 117 |
+
<parent link="link_1.0"/>
|
| 118 |
+
<child link="link_2.0"/>
|
| 119 |
+
<origin xyz="0 0 0.054"/>
|
| 120 |
+
</joint>
|
| 121 |
+
<link name="link_3.0">
|
| 122 |
+
<visual>
|
| 123 |
+
<geometry>
|
| 124 |
+
<mesh filename="meshes/visual/link_3.0.obj"/>
|
| 125 |
+
</geometry>
|
| 126 |
+
</visual>
|
| 127 |
+
<collision>
|
| 128 |
+
<geometry>
|
| 129 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 130 |
+
</geometry>
|
| 131 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 132 |
+
</collision>
|
| 133 |
+
<inertial>
|
| 134 |
+
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
|
| 135 |
+
<mass value="0.02"/>
|
| 136 |
+
<inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
|
| 137 |
+
</inertial>
|
| 138 |
+
</link>
|
| 139 |
+
<joint name="joint_3.0" type="revolute">
|
| 140 |
+
<axis xyz="0 1 0"/>
|
| 141 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 142 |
+
<parent link="link_2.0"/>
|
| 143 |
+
<child link="link_3.0"/>
|
| 144 |
+
<origin xyz="0 0 0.0384"/>
|
| 145 |
+
</joint>
|
| 146 |
+
<link name="link_3.0_tip">
|
| 147 |
+
<inertial>
|
| 148 |
+
<mass value="0.0168"/>
|
| 149 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 150 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 151 |
+
</inertial>
|
| 152 |
+
<visual>
|
| 153 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="meshes/visual/link_tip.obj"/>
|
| 156 |
+
</geometry>
|
| 157 |
+
</visual>
|
| 158 |
+
<collision>
|
| 159 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 160 |
+
<geometry>
|
| 161 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 162 |
+
</geometry>
|
| 163 |
+
</collision>
|
| 164 |
+
</link>
|
| 165 |
+
<joint name="joint_3.0_tip" type="fixed">
|
| 166 |
+
<parent link="link_3.0"/>
|
| 167 |
+
<child link="link_3.0_tip"/>
|
| 168 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 169 |
+
</joint>
|
| 170 |
+
<link name="link_4.0">
|
| 171 |
+
<inertial>
|
| 172 |
+
<mass value="0.005"/>
|
| 173 |
+
<origin xyz="0 0 0"/>
|
| 174 |
+
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
| 175 |
+
</inertial>
|
| 176 |
+
<visual>
|
| 177 |
+
<geometry>
|
| 178 |
+
<mesh filename="meshes/visual/link_0.0.obj"/>
|
| 179 |
+
</geometry>
|
| 180 |
+
</visual>
|
| 181 |
+
<collision>
|
| 182 |
+
<geometry>
|
| 183 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 184 |
+
</geometry>
|
| 185 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 186 |
+
</collision>
|
| 187 |
+
</link>
|
| 188 |
+
<joint name="joint_4.0" type="revolute">
|
| 189 |
+
<axis xyz="0 0 1"/>
|
| 190 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 191 |
+
<parent link="base_link"/>
|
| 192 |
+
<child link="link_4.0"/>
|
| 193 |
+
<origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
|
| 194 |
+
</joint>
|
| 195 |
+
<link name="link_5.0">
|
| 196 |
+
<inertial>
|
| 197 |
+
<mass value="0.065"/>
|
| 198 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 199 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 200 |
+
</inertial>
|
| 201 |
+
<visual>
|
| 202 |
+
<geometry>
|
| 203 |
+
<mesh filename="meshes/visual/link_1.0.obj"/>
|
| 204 |
+
</geometry>
|
| 205 |
+
</visual>
|
| 206 |
+
<collision>
|
| 207 |
+
<geometry>
|
| 208 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 209 |
+
</geometry>
|
| 210 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 211 |
+
</collision>
|
| 212 |
+
</link>
|
| 213 |
+
<joint name="joint_5.0" type="revolute">
|
| 214 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 215 |
+
<axis xyz="0 1 0"/>
|
| 216 |
+
<parent link="link_4.0"/>
|
| 217 |
+
<child link="link_5.0"/>
|
| 218 |
+
<origin xyz="0 0 0.0164"/>
|
| 219 |
+
</joint>
|
| 220 |
+
<link name="link_6.0">
|
| 221 |
+
<inertial>
|
| 222 |
+
<mass value="0.0355"/>
|
| 223 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 224 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 225 |
+
</inertial>
|
| 226 |
+
<visual>
|
| 227 |
+
<geometry>
|
| 228 |
+
<mesh filename="meshes/visual/link_2.0.obj"/>
|
| 229 |
+
</geometry>
|
| 230 |
+
</visual>
|
| 231 |
+
<collision>
|
| 232 |
+
<geometry>
|
| 233 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 234 |
+
</geometry>
|
| 235 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 236 |
+
</collision>
|
| 237 |
+
</link>
|
| 238 |
+
<joint name="joint_6.0" type="revolute">
|
| 239 |
+
<axis xyz="0 1 0"/>
|
| 240 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 241 |
+
<parent link="link_5.0"/>
|
| 242 |
+
<child link="link_6.0"/>
|
| 243 |
+
<origin xyz="0 0 0.054"/>
|
| 244 |
+
</joint>
|
| 245 |
+
<link name="link_7.0">
|
| 246 |
+
<inertial>
|
| 247 |
+
<mass value="0.0388"/>
|
| 248 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 249 |
+
<inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
|
| 250 |
+
</inertial>
|
| 251 |
+
<visual>
|
| 252 |
+
<geometry>
|
| 253 |
+
<mesh filename="meshes/visual/link_3.0.obj"/>
|
| 254 |
+
</geometry>
|
| 255 |
+
</visual>
|
| 256 |
+
<collision>
|
| 257 |
+
<geometry>
|
| 258 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 259 |
+
</geometry>
|
| 260 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 261 |
+
</collision>
|
| 262 |
+
</link>
|
| 263 |
+
<joint name="joint_7.0" type="revolute">
|
| 264 |
+
<axis xyz="0 1 0"/>
|
| 265 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 266 |
+
<parent link="link_6.0"/>
|
| 267 |
+
<child link="link_7.0"/>
|
| 268 |
+
<origin xyz="0 0 0.0384"/>
|
| 269 |
+
</joint>
|
| 270 |
+
<link name="link_7.0_tip">
|
| 271 |
+
<inertial>
|
| 272 |
+
<mass value="0.0096"/>
|
| 273 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 274 |
+
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
|
| 275 |
+
</inertial>
|
| 276 |
+
<visual>
|
| 277 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 278 |
+
<geometry>
|
| 279 |
+
<mesh filename="meshes/visual/link_tip.obj"/>
|
| 280 |
+
</geometry>
|
| 281 |
+
</visual>
|
| 282 |
+
<collision>
|
| 283 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 284 |
+
<geometry>
|
| 285 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 286 |
+
</geometry>
|
| 287 |
+
</collision>
|
| 288 |
+
</link>
|
| 289 |
+
<joint name="joint_7.0_tip" type="fixed">
|
| 290 |
+
<parent link="link_7.0"/>
|
| 291 |
+
<child link="link_7.0_tip"/>
|
| 292 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 293 |
+
</joint>
|
| 294 |
+
<link name="link_8.0">
|
| 295 |
+
<inertial>
|
| 296 |
+
<mass value="0.005"/>
|
| 297 |
+
<origin xyz="0 0 0"/>
|
| 298 |
+
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
| 299 |
+
</inertial>
|
| 300 |
+
<visual>
|
| 301 |
+
<geometry>
|
| 302 |
+
<mesh filename="meshes/visual/link_0.0.obj"/>
|
| 303 |
+
</geometry>
|
| 304 |
+
</visual>
|
| 305 |
+
<collision>
|
| 306 |
+
<geometry>
|
| 307 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 308 |
+
</geometry>
|
| 309 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 310 |
+
</collision>
|
| 311 |
+
</link>
|
| 312 |
+
<joint name="joint_8.0" type="revolute">
|
| 313 |
+
<axis xyz="0 0 1"/>
|
| 314 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 315 |
+
<parent link="base_link"/>
|
| 316 |
+
<child link="link_8.0"/>
|
| 317 |
+
<origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
|
| 318 |
+
</joint>
|
| 319 |
+
<link name="link_9.0">
|
| 320 |
+
<inertial>
|
| 321 |
+
<mass value="0.065"/>
|
| 322 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 323 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 324 |
+
</inertial>
|
| 325 |
+
<visual>
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="meshes/visual/link_1.0.obj"/>
|
| 328 |
+
</geometry>
|
| 329 |
+
</visual>
|
| 330 |
+
<collision>
|
| 331 |
+
<geometry>
|
| 332 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 333 |
+
</geometry>
|
| 334 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 335 |
+
</collision>
|
| 336 |
+
</link>
|
| 337 |
+
<joint name="joint_9.0" type="revolute">
|
| 338 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 339 |
+
<axis xyz="0 1 0"/>
|
| 340 |
+
<parent link="link_8.0"/>
|
| 341 |
+
<child link="link_9.0"/>
|
| 342 |
+
<origin xyz="0 0 0.0164"/>
|
| 343 |
+
</joint>
|
| 344 |
+
<link name="link_10.0">
|
| 345 |
+
<inertial>
|
| 346 |
+
<mass value="0.0355"/>
|
| 347 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 348 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 349 |
+
</inertial>
|
| 350 |
+
<visual>
|
| 351 |
+
<geometry>
|
| 352 |
+
<mesh filename="meshes/visual/link_2.0.obj"/>
|
| 353 |
+
</geometry>
|
| 354 |
+
</visual>
|
| 355 |
+
<collision>
|
| 356 |
+
<geometry>
|
| 357 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 360 |
+
</collision>
|
| 361 |
+
</link>
|
| 362 |
+
<joint name="joint_10.0" type="revolute">
|
| 363 |
+
<axis xyz="0 1 0"/>
|
| 364 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 365 |
+
<parent link="link_9.0"/>
|
| 366 |
+
<child link="link_10.0"/>
|
| 367 |
+
<origin xyz="0 0 0.054"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<link name="link_11.0">
|
| 370 |
+
<inertial>
|
| 371 |
+
<mass value="0.0096"/>
|
| 372 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 373 |
+
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
|
| 374 |
+
</inertial>
|
| 375 |
+
<visual>
|
| 376 |
+
<geometry>
|
| 377 |
+
<mesh filename="meshes/visual/link_3.0.obj"/>
|
| 378 |
+
</geometry>
|
| 379 |
+
</visual>
|
| 380 |
+
<collision>
|
| 381 |
+
<geometry>
|
| 382 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 383 |
+
</geometry>
|
| 384 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 385 |
+
</collision>
|
| 386 |
+
</link>
|
| 387 |
+
<joint name="joint_11.0" type="revolute">
|
| 388 |
+
<axis xyz="0 1 0"/>
|
| 389 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 390 |
+
<parent link="link_10.0"/>
|
| 391 |
+
<child link="link_11.0"/>
|
| 392 |
+
<origin xyz="0 0 0.0384"/>
|
| 393 |
+
</joint>
|
| 394 |
+
<link name="link_11.0_tip">
|
| 395 |
+
<inertial>
|
| 396 |
+
<mass value="0.0168"/>
|
| 397 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 398 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 399 |
+
</inertial>
|
| 400 |
+
<visual>
|
| 401 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 402 |
+
<geometry>
|
| 403 |
+
<mesh filename="meshes/visual/link_tip.obj"/>
|
| 404 |
+
</geometry>
|
| 405 |
+
</visual>
|
| 406 |
+
<collision>
|
| 407 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 408 |
+
<geometry>
|
| 409 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 410 |
+
</geometry>
|
| 411 |
+
</collision>
|
| 412 |
+
</link>
|
| 413 |
+
<joint name="joint_11.0_tip" type="fixed">
|
| 414 |
+
<parent link="link_11.0"/>
|
| 415 |
+
<child link="link_11.0_tip"/>
|
| 416 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 417 |
+
</joint> <!-- THUMB -->
|
| 418 |
+
<link name="link_12.0">
|
| 419 |
+
<inertial>
|
| 420 |
+
<mass value="0.0176"/>
|
| 421 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 422 |
+
<inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
|
| 423 |
+
</inertial>
|
| 424 |
+
<visual>
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="meshes/visual/link_12.0_right.obj"/>
|
| 427 |
+
</geometry>
|
| 428 |
+
</visual>
|
| 429 |
+
<collision>
|
| 430 |
+
<geometry>
|
| 431 |
+
<box size="0.0358 0.034 0.0455"/>
|
| 432 |
+
</geometry>
|
| 433 |
+
<origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
|
| 434 |
+
</collision>
|
| 435 |
+
</link>
|
| 436 |
+
<joint name="joint_12.0" type="revolute">
|
| 437 |
+
<axis xyz="-1 0 0"/>
|
| 438 |
+
<limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
|
| 439 |
+
<parent link="base_link"/>
|
| 440 |
+
<child link="link_12.0"/>
|
| 441 |
+
<origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
|
| 442 |
+
</joint>
|
| 443 |
+
<link name="link_13.0">
|
| 444 |
+
<inertial>
|
| 445 |
+
<mass value="0.0119"/>
|
| 446 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 447 |
+
<inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
|
| 448 |
+
</inertial>
|
| 449 |
+
<visual>
|
| 450 |
+
<geometry>
|
| 451 |
+
<mesh filename="meshes/visual/link_13.0.obj"/>
|
| 452 |
+
</geometry>
|
| 453 |
+
</visual>
|
| 454 |
+
<collision>
|
| 455 |
+
<geometry>
|
| 456 |
+
<box size="0.0196 0.0275 0.0177"/>
|
| 457 |
+
</geometry>
|
| 458 |
+
<origin rpy="0 0 0" xyz="0 0 0.00885"/>
|
| 459 |
+
</collision>
|
| 460 |
+
</link>
|
| 461 |
+
<joint name="joint_13.0" type="revolute">
|
| 462 |
+
<axis xyz="0 0 1"/>
|
| 463 |
+
<limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
|
| 464 |
+
<parent link="link_12.0"/>
|
| 465 |
+
<child link="link_13.0"/>
|
| 466 |
+
<origin xyz="-0.027 0.005 0.0399"/>
|
| 467 |
+
</joint>
|
| 468 |
+
<link name="link_14.0">
|
| 469 |
+
<inertial>
|
| 470 |
+
<mass value="0.038"/>
|
| 471 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 472 |
+
<inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
|
| 473 |
+
</inertial>
|
| 474 |
+
<visual>
|
| 475 |
+
<geometry>
|
| 476 |
+
<mesh filename="meshes/visual/link_14.0.obj"/>
|
| 477 |
+
</geometry>
|
| 478 |
+
</visual>
|
| 479 |
+
<collision>
|
| 480 |
+
<geometry>
|
| 481 |
+
<box size="0.0196 0.0275 0.0514"/>
|
| 482 |
+
</geometry>
|
| 483 |
+
<origin rpy="0 0 0" xyz="0 0 0.0257"/>
|
| 484 |
+
</collision>
|
| 485 |
+
</link>
|
| 486 |
+
<joint name="joint_14.0" type="revolute">
|
| 487 |
+
<axis xyz="0 1 0"/>
|
| 488 |
+
<limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
|
| 489 |
+
<parent link="link_13.0"/>
|
| 490 |
+
<child link="link_14.0"/>
|
| 491 |
+
<origin xyz="0 0 0.0177"/>
|
| 492 |
+
</joint>
|
| 493 |
+
<link name="link_15.0">
|
| 494 |
+
<inertial>
|
| 495 |
+
<mass value="0.0388"/>
|
| 496 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 497 |
+
<inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
|
| 498 |
+
</inertial>
|
| 499 |
+
<visual>
|
| 500 |
+
<geometry>
|
| 501 |
+
<mesh filename="meshes/visual/link_15.0.obj"/>
|
| 502 |
+
</geometry>
|
| 503 |
+
</visual>
|
| 504 |
+
<collision>
|
| 505 |
+
<geometry>
|
| 506 |
+
<box size="0.0196 0.0269 0.04"/>
|
| 507 |
+
</geometry>
|
| 508 |
+
<origin rpy="0 0 0" xyz="0 0 0.01125"/>
|
| 509 |
+
</collision>
|
| 510 |
+
</link>
|
| 511 |
+
<joint name="joint_15.0" type="revolute">
|
| 512 |
+
<axis xyz="0 1 0"/>
|
| 513 |
+
<limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
|
| 514 |
+
<parent link="link_14.0"/>
|
| 515 |
+
<child link="link_15.0"/>
|
| 516 |
+
<origin xyz="0 0 0.0514"/>
|
| 517 |
+
</joint>
|
| 518 |
+
<link name="link_15.0_tip">
|
| 519 |
+
<inertial>
|
| 520 |
+
<mass value="0.0168"/>
|
| 521 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 522 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 523 |
+
</inertial>
|
| 524 |
+
<visual>
|
| 525 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 526 |
+
<geometry>
|
| 527 |
+
<mesh filename="meshes/visual/link_tip.obj"/>
|
| 528 |
+
</geometry>
|
| 529 |
+
</visual>
|
| 530 |
+
<collision>
|
| 531 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 532 |
+
<geometry>
|
| 533 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 534 |
+
</geometry>
|
| 535 |
+
</collision>
|
| 536 |
+
</link>
|
| 537 |
+
<joint name="joint_15.0_tip" type="fixed">
|
| 538 |
+
<parent link="link_15.0"/>
|
| 539 |
+
<child link="link_15.0_tip"/>
|
| 540 |
+
<origin rpy="0 0 0" xyz="0 0 0.0543"/>
|
| 541 |
+
</joint>
|
| 542 |
+
</robot>
|
hands/allegro_hand/allegro_hand_right_glb.urdf
ADDED
|
@@ -0,0 +1,542 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<robot name="allegro_right">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<mass value="0.4154"/>
|
| 6 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 7 |
+
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<geometry>
|
| 11 |
+
<mesh filename="meshes/visual/base_link.glb"/>
|
| 12 |
+
</geometry>
|
| 13 |
+
<origin rpy="0 0 0" xyz="0 0 0 "/>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision>
|
| 16 |
+
<origin rpy="0 0 0" xyz="-0.009 0.0 -0.023"/>
|
| 17 |
+
<geometry>
|
| 18 |
+
<box size="0.0414 0.112 0.0448"/>
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
<collision>
|
| 22 |
+
<origin rpy="0 0 0" xyz="-0.009 -0.0253 -0.0667"/>
|
| 23 |
+
<geometry>
|
| 24 |
+
<box size="0.0414 0.0538 0.0428"/>
|
| 25 |
+
</geometry>
|
| 26 |
+
</collision>
|
| 27 |
+
<collision>
|
| 28 |
+
<origin rpy="0 0 0" xyz="-0.009300 -0.00557 -0.08874"/>
|
| 29 |
+
<geometry>
|
| 30 |
+
<box size="0.0414 0.0720 0.013"/>
|
| 31 |
+
</geometry>
|
| 32 |
+
</collision>
|
| 33 |
+
</link> <!-- virtual link-->
|
| 34 |
+
<link name="palm"/>
|
| 35 |
+
<joint name="palm_joint" type="fixed">
|
| 36 |
+
<parent link="base_link"/>
|
| 37 |
+
<child link="palm"/>
|
| 38 |
+
<origin rpy="0.00000 -0.00000 0.00000" xyz="0 0 -0.065"/>
|
| 39 |
+
</joint> <!-- virtual link-->
|
| 40 |
+
<link name="wrist"/>
|
| 41 |
+
<joint name="wrist_joint" type="fixed">
|
| 42 |
+
<origin rpy="0 0 0" xyz="0 0 -0.03"/>
|
| 43 |
+
<parent link="palm"/>
|
| 44 |
+
<child link="wrist"/>
|
| 45 |
+
</joint>
|
| 46 |
+
<link name="link_0.0">
|
| 47 |
+
<visual>
|
| 48 |
+
<geometry>
|
| 49 |
+
<mesh filename="meshes/visual/link_0.0.glb"/>
|
| 50 |
+
</geometry>
|
| 51 |
+
</visual>
|
| 52 |
+
<collision>
|
| 53 |
+
<geometry>
|
| 54 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 57 |
+
</collision>
|
| 58 |
+
<inertial>
|
| 59 |
+
<mass value="0.0119"/>
|
| 60 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 61 |
+
<inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
|
| 62 |
+
</inertial>
|
| 63 |
+
</link>
|
| 64 |
+
<joint name="joint_0.0" type="revolute">
|
| 65 |
+
<axis xyz="0 0 1"/>
|
| 66 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 67 |
+
<parent link="base_link"/>
|
| 68 |
+
<child link="link_0.0"/>
|
| 69 |
+
<origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
|
| 70 |
+
</joint>
|
| 71 |
+
<link name="link_1.0">
|
| 72 |
+
<inertial>
|
| 73 |
+
<mass value="0.065"/>
|
| 74 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 75 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 76 |
+
</inertial>
|
| 77 |
+
<visual>
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh filename="meshes/visual/link_1.0.glb"/>
|
| 80 |
+
</geometry>
|
| 81 |
+
</visual>
|
| 82 |
+
<collision>
|
| 83 |
+
<geometry>
|
| 84 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 85 |
+
</geometry>
|
| 86 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 87 |
+
</collision>
|
| 88 |
+
</link>
|
| 89 |
+
<joint name="joint_1.0" type="revolute">
|
| 90 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 91 |
+
<axis xyz="0 1 0"/>
|
| 92 |
+
<parent link="link_0.0"/>
|
| 93 |
+
<child link="link_1.0"/>
|
| 94 |
+
<origin xyz="0 0 0.0164"/>
|
| 95 |
+
</joint>
|
| 96 |
+
<link name="link_2.0">
|
| 97 |
+
<inertial>
|
| 98 |
+
<mass value="0.0355"/>
|
| 99 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 100 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 101 |
+
</inertial>
|
| 102 |
+
<visual>
|
| 103 |
+
<geometry>
|
| 104 |
+
<mesh filename="meshes/visual/link_2.0.glb"/>
|
| 105 |
+
</geometry>
|
| 106 |
+
</visual>
|
| 107 |
+
<collision>
|
| 108 |
+
<geometry>
|
| 109 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 112 |
+
</collision>
|
| 113 |
+
</link>
|
| 114 |
+
<joint name="joint_2.0" type="revolute">
|
| 115 |
+
<axis xyz="0 1 0"/>
|
| 116 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 117 |
+
<parent link="link_1.0"/>
|
| 118 |
+
<child link="link_2.0"/>
|
| 119 |
+
<origin xyz="0 0 0.054"/>
|
| 120 |
+
</joint>
|
| 121 |
+
<link name="link_3.0">
|
| 122 |
+
<visual>
|
| 123 |
+
<geometry>
|
| 124 |
+
<mesh filename="meshes/visual/link_3.0.glb"/>
|
| 125 |
+
</geometry>
|
| 126 |
+
</visual>
|
| 127 |
+
<collision>
|
| 128 |
+
<geometry>
|
| 129 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 130 |
+
</geometry>
|
| 131 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 132 |
+
</collision>
|
| 133 |
+
<inertial>
|
| 134 |
+
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
|
| 135 |
+
<mass value="0.02"/>
|
| 136 |
+
<inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
|
| 137 |
+
</inertial>
|
| 138 |
+
</link>
|
| 139 |
+
<joint name="joint_3.0" type="revolute">
|
| 140 |
+
<axis xyz="0 1 0"/>
|
| 141 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 142 |
+
<parent link="link_2.0"/>
|
| 143 |
+
<child link="link_3.0"/>
|
| 144 |
+
<origin xyz="0 0 0.0384"/>
|
| 145 |
+
</joint>
|
| 146 |
+
<link name="link_3.0_tip">
|
| 147 |
+
<inertial>
|
| 148 |
+
<mass value="0.0168"/>
|
| 149 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 150 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 151 |
+
</inertial>
|
| 152 |
+
<visual>
|
| 153 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="meshes/visual/link_tip.glb"/>
|
| 156 |
+
</geometry>
|
| 157 |
+
</visual>
|
| 158 |
+
<collision>
|
| 159 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 160 |
+
<geometry>
|
| 161 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 162 |
+
</geometry>
|
| 163 |
+
</collision>
|
| 164 |
+
</link>
|
| 165 |
+
<joint name="joint_3.0_tip" type="fixed">
|
| 166 |
+
<parent link="link_3.0"/>
|
| 167 |
+
<child link="link_3.0_tip"/>
|
| 168 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 169 |
+
</joint>
|
| 170 |
+
<link name="link_4.0">
|
| 171 |
+
<inertial>
|
| 172 |
+
<mass value="0.005"/>
|
| 173 |
+
<origin xyz="0 0 0"/>
|
| 174 |
+
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
| 175 |
+
</inertial>
|
| 176 |
+
<visual>
|
| 177 |
+
<geometry>
|
| 178 |
+
<mesh filename="meshes/visual/link_0.0.glb"/>
|
| 179 |
+
</geometry>
|
| 180 |
+
</visual>
|
| 181 |
+
<collision>
|
| 182 |
+
<geometry>
|
| 183 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 184 |
+
</geometry>
|
| 185 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 186 |
+
</collision>
|
| 187 |
+
</link>
|
| 188 |
+
<joint name="joint_4.0" type="revolute">
|
| 189 |
+
<axis xyz="0 0 1"/>
|
| 190 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 191 |
+
<parent link="base_link"/>
|
| 192 |
+
<child link="link_4.0"/>
|
| 193 |
+
<origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
|
| 194 |
+
</joint>
|
| 195 |
+
<link name="link_5.0">
|
| 196 |
+
<inertial>
|
| 197 |
+
<mass value="0.065"/>
|
| 198 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 199 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 200 |
+
</inertial>
|
| 201 |
+
<visual>
|
| 202 |
+
<geometry>
|
| 203 |
+
<mesh filename="meshes/visual/link_1.0.glb"/>
|
| 204 |
+
</geometry>
|
| 205 |
+
</visual>
|
| 206 |
+
<collision>
|
| 207 |
+
<geometry>
|
| 208 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 209 |
+
</geometry>
|
| 210 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 211 |
+
</collision>
|
| 212 |
+
</link>
|
| 213 |
+
<joint name="joint_5.0" type="revolute">
|
| 214 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 215 |
+
<axis xyz="0 1 0"/>
|
| 216 |
+
<parent link="link_4.0"/>
|
| 217 |
+
<child link="link_5.0"/>
|
| 218 |
+
<origin xyz="0 0 0.0164"/>
|
| 219 |
+
</joint>
|
| 220 |
+
<link name="link_6.0">
|
| 221 |
+
<inertial>
|
| 222 |
+
<mass value="0.0355"/>
|
| 223 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 224 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 225 |
+
</inertial>
|
| 226 |
+
<visual>
|
| 227 |
+
<geometry>
|
| 228 |
+
<mesh filename="meshes/visual/link_2.0.glb"/>
|
| 229 |
+
</geometry>
|
| 230 |
+
</visual>
|
| 231 |
+
<collision>
|
| 232 |
+
<geometry>
|
| 233 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 234 |
+
</geometry>
|
| 235 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 236 |
+
</collision>
|
| 237 |
+
</link>
|
| 238 |
+
<joint name="joint_6.0" type="revolute">
|
| 239 |
+
<axis xyz="0 1 0"/>
|
| 240 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 241 |
+
<parent link="link_5.0"/>
|
| 242 |
+
<child link="link_6.0"/>
|
| 243 |
+
<origin xyz="0 0 0.054"/>
|
| 244 |
+
</joint>
|
| 245 |
+
<link name="link_7.0">
|
| 246 |
+
<inertial>
|
| 247 |
+
<mass value="0.0388"/>
|
| 248 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 249 |
+
<inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
|
| 250 |
+
</inertial>
|
| 251 |
+
<visual>
|
| 252 |
+
<geometry>
|
| 253 |
+
<mesh filename="meshes/visual/link_3.0.glb"/>
|
| 254 |
+
</geometry>
|
| 255 |
+
</visual>
|
| 256 |
+
<collision>
|
| 257 |
+
<geometry>
|
| 258 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 259 |
+
</geometry>
|
| 260 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 261 |
+
</collision>
|
| 262 |
+
</link>
|
| 263 |
+
<joint name="joint_7.0" type="revolute">
|
| 264 |
+
<axis xyz="0 1 0"/>
|
| 265 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 266 |
+
<parent link="link_6.0"/>
|
| 267 |
+
<child link="link_7.0"/>
|
| 268 |
+
<origin xyz="0 0 0.0384"/>
|
| 269 |
+
</joint>
|
| 270 |
+
<link name="link_7.0_tip">
|
| 271 |
+
<inertial>
|
| 272 |
+
<mass value="0.0096"/>
|
| 273 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 274 |
+
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
|
| 275 |
+
</inertial>
|
| 276 |
+
<visual>
|
| 277 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 278 |
+
<geometry>
|
| 279 |
+
<mesh filename="meshes/visual/link_tip.glb"/>
|
| 280 |
+
</geometry>
|
| 281 |
+
</visual>
|
| 282 |
+
<collision>
|
| 283 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 284 |
+
<geometry>
|
| 285 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 286 |
+
</geometry>
|
| 287 |
+
</collision>
|
| 288 |
+
</link>
|
| 289 |
+
<joint name="joint_7.0_tip" type="fixed">
|
| 290 |
+
<parent link="link_7.0"/>
|
| 291 |
+
<child link="link_7.0_tip"/>
|
| 292 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 293 |
+
</joint>
|
| 294 |
+
<link name="link_8.0">
|
| 295 |
+
<inertial>
|
| 296 |
+
<mass value="0.005"/>
|
| 297 |
+
<origin xyz="0 0 0"/>
|
| 298 |
+
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
|
| 299 |
+
</inertial>
|
| 300 |
+
<visual>
|
| 301 |
+
<geometry>
|
| 302 |
+
<mesh filename="meshes/visual/link_0.0.glb"/>
|
| 303 |
+
</geometry>
|
| 304 |
+
</visual>
|
| 305 |
+
<collision>
|
| 306 |
+
<geometry>
|
| 307 |
+
<box size="0.0196 0.0275 0.0164"/>
|
| 308 |
+
</geometry>
|
| 309 |
+
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
|
| 310 |
+
</collision>
|
| 311 |
+
</link>
|
| 312 |
+
<joint name="joint_8.0" type="revolute">
|
| 313 |
+
<axis xyz="0 0 1"/>
|
| 314 |
+
<limit effort="10" lower="-0.47" upper="0.47" velocity="3.14"/>
|
| 315 |
+
<parent link="base_link"/>
|
| 316 |
+
<child link="link_8.0"/>
|
| 317 |
+
<origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
|
| 318 |
+
</joint>
|
| 319 |
+
<link name="link_9.0">
|
| 320 |
+
<inertial>
|
| 321 |
+
<mass value="0.065"/>
|
| 322 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 323 |
+
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
|
| 324 |
+
</inertial>
|
| 325 |
+
<visual>
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="meshes/visual/link_1.0.glb"/>
|
| 328 |
+
</geometry>
|
| 329 |
+
</visual>
|
| 330 |
+
<collision>
|
| 331 |
+
<geometry>
|
| 332 |
+
<box size="0.0196 0.0275 0.054"/>
|
| 333 |
+
</geometry>
|
| 334 |
+
<origin rpy="0 0 0" xyz="0 0 0.027"/>
|
| 335 |
+
</collision>
|
| 336 |
+
</link>
|
| 337 |
+
<joint name="joint_9.0" type="revolute">
|
| 338 |
+
<limit effort="10" lower="-0.196" upper="1.61" velocity="3.14"/>
|
| 339 |
+
<axis xyz="0 1 0"/>
|
| 340 |
+
<parent link="link_8.0"/>
|
| 341 |
+
<child link="link_9.0"/>
|
| 342 |
+
<origin xyz="0 0 0.0164"/>
|
| 343 |
+
</joint>
|
| 344 |
+
<link name="link_10.0">
|
| 345 |
+
<inertial>
|
| 346 |
+
<mass value="0.0355"/>
|
| 347 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 348 |
+
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
|
| 349 |
+
</inertial>
|
| 350 |
+
<visual>
|
| 351 |
+
<geometry>
|
| 352 |
+
<mesh filename="meshes/visual/link_2.0.glb"/>
|
| 353 |
+
</geometry>
|
| 354 |
+
</visual>
|
| 355 |
+
<collision>
|
| 356 |
+
<geometry>
|
| 357 |
+
<box size="0.0196 0.0275 0.0384"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
|
| 360 |
+
</collision>
|
| 361 |
+
</link>
|
| 362 |
+
<joint name="joint_10.0" type="revolute">
|
| 363 |
+
<axis xyz="0 1 0"/>
|
| 364 |
+
<limit effort="10" lower="-0.174" upper="1.709" velocity="3.14"/>
|
| 365 |
+
<parent link="link_9.0"/>
|
| 366 |
+
<child link="link_10.0"/>
|
| 367 |
+
<origin xyz="0 0 0.054"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<link name="link_11.0">
|
| 370 |
+
<inertial>
|
| 371 |
+
<mass value="0.0096"/>
|
| 372 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 373 |
+
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
|
| 374 |
+
</inertial>
|
| 375 |
+
<visual>
|
| 376 |
+
<geometry>
|
| 377 |
+
<mesh filename="meshes/visual/link_3.0.glb"/>
|
| 378 |
+
</geometry>
|
| 379 |
+
</visual>
|
| 380 |
+
<collision>
|
| 381 |
+
<geometry>
|
| 382 |
+
<box size="0.0196 0.0269 0.022"/>
|
| 383 |
+
</geometry>
|
| 384 |
+
<origin rpy="0 0 0" xyz="0 0 0.0047"/>
|
| 385 |
+
</collision>
|
| 386 |
+
</link>
|
| 387 |
+
<joint name="joint_11.0" type="revolute">
|
| 388 |
+
<axis xyz="0 1 0"/>
|
| 389 |
+
<limit effort="10" lower="-0.227" upper="1.618" velocity="3.14"/>
|
| 390 |
+
<parent link="link_10.0"/>
|
| 391 |
+
<child link="link_11.0"/>
|
| 392 |
+
<origin xyz="0 0 0.0384"/>
|
| 393 |
+
</joint>
|
| 394 |
+
<link name="link_11.0_tip">
|
| 395 |
+
<inertial>
|
| 396 |
+
<mass value="0.0168"/>
|
| 397 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 398 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 399 |
+
</inertial>
|
| 400 |
+
<visual>
|
| 401 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 402 |
+
<geometry>
|
| 403 |
+
<mesh filename="meshes/visual/link_tip.glb"/>
|
| 404 |
+
</geometry>
|
| 405 |
+
</visual>
|
| 406 |
+
<collision>
|
| 407 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 408 |
+
<geometry>
|
| 409 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 410 |
+
</geometry>
|
| 411 |
+
</collision>
|
| 412 |
+
</link>
|
| 413 |
+
<joint name="joint_11.0_tip" type="fixed">
|
| 414 |
+
<parent link="link_11.0"/>
|
| 415 |
+
<child link="link_11.0_tip"/>
|
| 416 |
+
<origin rpy="0 0 0" xyz="0 0 0.0387"/>
|
| 417 |
+
</joint> <!-- THUMB -->
|
| 418 |
+
<link name="link_12.0">
|
| 419 |
+
<inertial>
|
| 420 |
+
<mass value="0.0176"/>
|
| 421 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 422 |
+
<inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
|
| 423 |
+
</inertial>
|
| 424 |
+
<visual>
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="meshes/visual/link_12.0_right.glb"/>
|
| 427 |
+
</geometry>
|
| 428 |
+
</visual>
|
| 429 |
+
<collision>
|
| 430 |
+
<geometry>
|
| 431 |
+
<box size="0.0358 0.034 0.0455"/>
|
| 432 |
+
</geometry>
|
| 433 |
+
<origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
|
| 434 |
+
</collision>
|
| 435 |
+
</link>
|
| 436 |
+
<joint name="joint_12.0" type="revolute">
|
| 437 |
+
<axis xyz="-1 0 0"/>
|
| 438 |
+
<limit effort="10" lower="0.263" upper="1.396" velocity="3.14"/>
|
| 439 |
+
<parent link="base_link"/>
|
| 440 |
+
<child link="link_12.0"/>
|
| 441 |
+
<origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
|
| 442 |
+
</joint>
|
| 443 |
+
<link name="link_13.0">
|
| 444 |
+
<inertial>
|
| 445 |
+
<mass value="0.0119"/>
|
| 446 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 447 |
+
<inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
|
| 448 |
+
</inertial>
|
| 449 |
+
<visual>
|
| 450 |
+
<geometry>
|
| 451 |
+
<mesh filename="meshes/visual/link_13.0.glb"/>
|
| 452 |
+
</geometry>
|
| 453 |
+
</visual>
|
| 454 |
+
<collision>
|
| 455 |
+
<geometry>
|
| 456 |
+
<box size="0.0196 0.0275 0.0177"/>
|
| 457 |
+
</geometry>
|
| 458 |
+
<origin rpy="0 0 0" xyz="0 0 0.00885"/>
|
| 459 |
+
</collision>
|
| 460 |
+
</link>
|
| 461 |
+
<joint name="joint_13.0" type="revolute">
|
| 462 |
+
<axis xyz="0 0 1"/>
|
| 463 |
+
<limit effort="10" lower="-0.105" upper="1.163" velocity="3.14"/>
|
| 464 |
+
<parent link="link_12.0"/>
|
| 465 |
+
<child link="link_13.0"/>
|
| 466 |
+
<origin xyz="-0.027 0.005 0.0399"/>
|
| 467 |
+
</joint>
|
| 468 |
+
<link name="link_14.0">
|
| 469 |
+
<inertial>
|
| 470 |
+
<mass value="0.038"/>
|
| 471 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 472 |
+
<inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
|
| 473 |
+
</inertial>
|
| 474 |
+
<visual>
|
| 475 |
+
<geometry>
|
| 476 |
+
<mesh filename="meshes/visual/link_14.0.glb"/>
|
| 477 |
+
</geometry>
|
| 478 |
+
</visual>
|
| 479 |
+
<collision>
|
| 480 |
+
<geometry>
|
| 481 |
+
<box size="0.0196 0.0275 0.0514"/>
|
| 482 |
+
</geometry>
|
| 483 |
+
<origin rpy="0 0 0" xyz="0 0 0.0257"/>
|
| 484 |
+
</collision>
|
| 485 |
+
</link>
|
| 486 |
+
<joint name="joint_14.0" type="revolute">
|
| 487 |
+
<axis xyz="0 1 0"/>
|
| 488 |
+
<limit effort="10" lower="-0.189" upper="1.644" velocity="3.14"/>
|
| 489 |
+
<parent link="link_13.0"/>
|
| 490 |
+
<child link="link_14.0"/>
|
| 491 |
+
<origin xyz="0 0 0.0177"/>
|
| 492 |
+
</joint>
|
| 493 |
+
<link name="link_15.0">
|
| 494 |
+
<inertial>
|
| 495 |
+
<mass value="0.0388"/>
|
| 496 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 497 |
+
<inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
|
| 498 |
+
</inertial>
|
| 499 |
+
<visual>
|
| 500 |
+
<geometry>
|
| 501 |
+
<mesh filename="meshes/visual/link_15.0.glb"/>
|
| 502 |
+
</geometry>
|
| 503 |
+
</visual>
|
| 504 |
+
<collision>
|
| 505 |
+
<geometry>
|
| 506 |
+
<box size="0.0196 0.0269 0.04"/>
|
| 507 |
+
</geometry>
|
| 508 |
+
<origin rpy="0 0 0" xyz="0 0 0.01125"/>
|
| 509 |
+
</collision>
|
| 510 |
+
</link>
|
| 511 |
+
<joint name="joint_15.0" type="revolute">
|
| 512 |
+
<axis xyz="0 1 0"/>
|
| 513 |
+
<limit effort="10" lower="-0.162" upper="1.719" velocity="3.14"/>
|
| 514 |
+
<parent link="link_14.0"/>
|
| 515 |
+
<child link="link_15.0"/>
|
| 516 |
+
<origin xyz="0 0 0.0514"/>
|
| 517 |
+
</joint>
|
| 518 |
+
<link name="link_15.0_tip">
|
| 519 |
+
<inertial>
|
| 520 |
+
<mass value="0.0168"/>
|
| 521 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 522 |
+
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
|
| 523 |
+
</inertial>
|
| 524 |
+
<visual>
|
| 525 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 526 |
+
<geometry>
|
| 527 |
+
<mesh filename="meshes/visual/link_tip.glb"/>
|
| 528 |
+
</geometry>
|
| 529 |
+
</visual>
|
| 530 |
+
<collision>
|
| 531 |
+
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
|
| 532 |
+
<geometry>
|
| 533 |
+
<mesh filename="meshes/collision/link_tip.obj"/>
|
| 534 |
+
</geometry>
|
| 535 |
+
</collision>
|
| 536 |
+
</link>
|
| 537 |
+
<joint name="joint_15.0_tip" type="fixed">
|
| 538 |
+
<parent link="link_15.0"/>
|
| 539 |
+
<child link="link_15.0_tip"/>
|
| 540 |
+
<origin rpy="0 0 0" xyz="0 0 0.0543"/>
|
| 541 |
+
</joint>
|
| 542 |
+
</robot>
|
hands/allegro_hand/meshes/collision/link_tip.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cd517fb6f1b4ccec9ef48501b2a41494d700fdf376f37aa6909afcee172e64f4
|
| 3 |
+
size 67338
|
hands/allegro_hand/meshes/visual/base_link.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a5b957aa87e9fe4aa0f58a5192ca4583b6d4c3584f0a51ee8cd99ad76261c8d8
|
| 3 |
+
size 150276
|
hands/allegro_hand/meshes/visual/base_link.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender MTL File: 'None'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl black_metal
|
| 5 |
+
Ns 639.999995
|
| 6 |
+
Ka 0.500000 0.500000 0.500000
|
| 7 |
+
Kd 0.004025 0.004025 0.004025
|
| 8 |
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Ks 0.500000 0.500000 0.500000
|
| 9 |
+
Ke 0.000000 0.000000 0.000000
|
| 10 |
+
Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|
hands/allegro_hand/meshes/visual/base_link.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6bf8daf270ac7e427ee477515bfcbcee306958e8b2ea8a23ecb7a319c5c8690f
|
| 3 |
+
size 195076
|
hands/allegro_hand/meshes/visual/base_link_left.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fe83ed36849fac8a2b8cc0b346474ae4e6d0b94aa2d414528309d9cff0033f2b
|
| 3 |
+
size 454240
|
hands/allegro_hand/meshes/visual/base_link_left.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender MTL File: 'None'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl black_metal
|
| 5 |
+
Ns 639.999995
|
| 6 |
+
Ka 0.500000 0.500000 0.500000
|
| 7 |
+
Kd 0.004025 0.004025 0.004025
|
| 8 |
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Ks 0.500000 0.500000 0.500000
|
| 9 |
+
Ke 0.000000 0.000000 0.000000
|
| 10 |
+
Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|
hands/allegro_hand/meshes/visual/base_link_left.obj
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fbc01616cbd28d9c133a4ed6942ddf07e55ec84fa99a900c6b9bf6499d87ceca
|
| 3 |
+
size 599153
|
hands/allegro_hand/meshes/visual/link_0.0.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3efc9af7866efcfd61b51a19dec4454f88bf9c86787fba0f44f0ccb911cc364d
|
| 3 |
+
size 51836
|
hands/allegro_hand/meshes/visual/link_0.0.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender MTL File: 'None'
|
| 2 |
+
# Material Count: 1
|
| 3 |
+
|
| 4 |
+
newmtl black_metal
|
| 5 |
+
Ns 639.999995
|
| 6 |
+
Ka 0.500000 0.500000 0.500000
|
| 7 |
+
Kd 0.004025 0.004025 0.004025
|
| 8 |
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Ks 0.500000 0.500000 0.500000
|
| 9 |
+
Ke 0.000000 0.000000 0.000000
|
| 10 |
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Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|